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[windows] Fix ambiguous call for tf2::convert on MSVC #462

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2 changes: 1 addition & 1 deletion test_tf2/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.0.2)

project(test_tf2)

find_package(catkin REQUIRED COMPONENTS rosconsole roscpp rostest tf tf2 tf2_bullet tf2_ros tf2_geometry_msgs tf2_kdl tf2_msgs)
find_package(catkin REQUIRED COMPONENTS rosconsole roscpp rostest tf tf2 tf2_bullet tf2_ros tf2_geometry_msgs tf2_kdl tf2_msgs tf2_eigen)
find_package(Boost REQUIRED COMPONENTS thread)
find_package(orocos_kdl REQUIRED)

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2 changes: 2 additions & 0 deletions test_tf2/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
<build_depend>tf2_geometry_msgs</build_depend>
<build_depend>tf2_kdl</build_depend>
<build_depend>tf2_msgs</build_depend>
<build_depend>tf2_eigen</build_depend>

<run_depend>rosconsole</run_depend>
<run_depend>roscpp</run_depend>
Expand All @@ -34,6 +35,7 @@
<run_depend>tf2_geometry_msgs</run_depend>
<run_depend>tf2_kdl</run_depend>
<run_depend>tf2_msgs</run_depend>
<run_depend>tf2_eigen</run_depend>

<test_depend>rosunit</test_depend>
<test_depend>rosbash</test_depend>
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13 changes: 13 additions & 0 deletions test_tf2/test/test_convert.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
#include <tf2_kdl/tf2_kdl.h>
#include <tf2_bullet/tf2_bullet.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_eigen/tf2_eigen.h>
#include <ros/time.h>

TEST(tf2Convert, kdlToBullet)
Expand Down Expand Up @@ -97,6 +98,18 @@ TEST(tf2Convert, kdlBulletROSConversions)
EXPECT_NEAR(b1.z(), b4.z(), epsilon);
}

TEST(tf2Convert, ConvertTf2Quaternion)
{
tf2::Quaternion tq(1,2,3,4);
Eigen::Quaterniond eq;
tf2::convert(tq, eq);

EXPECT_EQ(tq.w(), eq.w());
EXPECT_EQ(tq.x(), eq.x());
EXPECT_EQ(tq.y(), eq.y());
EXPECT_EQ(tq.z(), eq.z());
}

int main(int argc, char** argv)
{
testing::InitGoogleTest(&argc, argv);
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12 changes: 12 additions & 0 deletions tf2/include/tf2/impl/convert.h
Original file line number Diff line number Diff line change
Expand Up @@ -55,21 +55,33 @@ template <>
template <typename A, typename B>
inline void Converter<true, false>::convert(const A& a, B& b)
{
#ifdef _MSC_VER
tf2::fromMsg(a, b);
#else
fromMsg(a, b);
#endif
}

template <>
template <typename A, typename B>
inline void Converter<false, true>::convert(const A& a, B& b)
{
#ifdef _MSC_VER
b = tf2::toMsg(a);
#else
b = toMsg(a);
#endif
}

template <>
template <typename A, typename B>
inline void Converter<false, false>::convert(const A& a, B& b)
{
#ifdef _MSC_VER
tf2::fromMsg(tf2::toMsg(a), b);
#else
fromMsg(toMsg(a), b);
#endif
}

}
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