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Added conversions for stamp types

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This commit is contained in:
Brice Rebsamen 2014-02-27 15:22:42 -08:00 committed by Paul Bovbel
parent e1ba69bfca
commit 7dc1ae60b0
1 changed files with 32 additions and 2 deletions
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34
include/pcl_conversions/pcl_conversions.h
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@ -75,10 +75,40 @@ namespace pcl_conversions {
/** PCLHeader <=> Header **/
inline
void fromPCL(const pcl::uint64_t &pcl_stamp, ros::Time &stamp)
{
stamp.fromNSec(pcl_stamp * 1e3); // Convert from us to ns
}
inline
void toPCL(const ros::Time &stamp, pcl::uint64_t &pcl_stamp)
{
pcl_stamp = stamp.toNSec() / 1e3; // Convert from ns to us
}
inline
ros::Time fromPCL(const pcl::uint64_t &pcl_stamp)
{
ros::Time stamp;
fromPCL(pcl_stamp, stamp);
return stamp;
}
inline
pcl::uint64_t toPCL(const ros::Time &stamp)
{
pcl::uint64_t pcl_stamp;
toPCL(stamp, pcl_stamp);
return pcl_stamp;
}
/** PCLHeader <=> Header **/
inline
void fromPCL(const pcl::PCLHeader &pcl_header, std_msgs::Header &header)
{
header.stamp.fromNSec(pcl_header.stamp * 1e3); // Convert from us to ns
fromPCL(pcl_header.stamp, header.stamp);
header.seq = pcl_header.seq;
header.frame_id = pcl_header.frame_id;
}
@ -86,7 +116,7 @@ namespace pcl_conversions {
inline
void toPCL(const std_msgs::Header &header, pcl::PCLHeader &pcl_header)
{
pcl_header.stamp = header.stamp.toNSec() / 1e3; // Convert from ns to us
toPCL(header.stamp, pcl_header.stamp);
pcl_header.seq = header.seq;
pcl_header.frame_id = header.frame_id;
}