decoders.h

#pragma once
 
#include <google/protobuf/repeated_field.h>
 
#include <state_representation/State.hpp>
#include <state_representation/parameters/Parameter.hpp>
 
#include "state_representation/state_message.pb.h"
 
namespace clproto {
 
template<typename FieldT>
std::vector<FieldT> decoder(const google::protobuf::RepeatedField<FieldT>& message);
 
template<typename FieldT>
std::vector<FieldT> decoder(const google::protobuf::RepeatedPtrField<FieldT>& message);
 
template<typename ParamT>
state_representation::Parameter<ParamT> decoder(const state_representation::proto::Parameter& message);
 
/*
 * Declarations for decoding helpers
 */
std::vector<bool> decoder(const google::protobuf::RepeatedField<bool>& message);
state_representation::StateType decoder(const state_representation::proto::StateType& message);
Eigen::Vector3d decoder(const state_representation::proto::Vector3d& message);
Eigen::Quaterniond decoder(const state_representation::proto::Quaterniond& message);
 
/*
 * Definitions for templated RepeatedField methods
 */
template<typename FieldT>
std::vector<FieldT> decoder(const google::protobuf::RepeatedField<FieldT>& message) {
  return {message.begin(), message.end()};
}
 
template<typename FieldT>
std::vector<FieldT> decoder(const google::protobuf::RepeatedPtrField<FieldT>& message) {
  return {message.begin(), message.end()};
}
 
}