7 #include <RobotAPI/interface/units/LaserScannerUnit.h>
9 #include <RobotAPI/libraries/armem_laser_scans/aron/LaserScan.aron.generated.h>
20 fromAron(
const arondto::SensorHeader& aronSensorHeader)
22 return {.
agent = aronSensorHeader.agent,
23 .frame = aronSensorHeader.frame,
24 .timestamp = aron::fromAron<Time>(aronSensorHeader.timestamp)};
35 fromAron(
const arondto::LaserScanStamped& aronLaserScan,
37 std::int64_t& timestamp,
39 std::string& agentName)
41 const auto header =
fromAron(aronLaserScan.header);
45 timestamp = header.timestamp.toMicroSecondsSinceEpoch();
47 agentName = header.agent;
66 arondto::SensorHeader aronSensorHeader;
68 aronSensorHeader.agent = sensorHeader.
agent;
69 aronSensorHeader.frame = sensorHeader.
frame;
72 return aronSensorHeader;
77 arondto::LaserScanStamped& aronLaserScanStamped)
79 aronLaserScanStamped.header =
toAron(laserScanStamped.
header);
86 const std::string& frame,
87 const std::string& agentName,
88 arondto::LaserScanStamped& aronLaserScanStamped)
90 const SensorHeader header{.
agent = agentName, .frame = frame, .timestamp = timestamp};
94 toAron(laserScanStamped, aronLaserScanStamped);