interfaces.hpp

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#pragma once
 
#include "rclcpp/rclcpp.hpp"
#include "common_lib/structures/cone.hpp"
#include "common_lib/structures/path_point.hpp"
#include "custom_interfaces/msg/cone.hpp"
#include "custom_interfaces/msg/cone_array.hpp"
#include "custom_interfaces/msg/path_point.hpp"
#include "custom_interfaces/msg/path_point_array.hpp"
#include "custom_interfaces/msg/point2d.hpp"
 
namespace common_lib::communication {
 
std::vector<common_lib::structures::PathPoint> path_point_array_from_ci_vector(
    const custom_interfaces::msg::PathPointArray &path_point_array);
 
custom_interfaces::msg::ConeArray custom_interfaces_array_from_vector(
    const std::vector<common_lib::structures::Cone> &input_cones);
 
custom_interfaces::msg::PathPointArray custom_interfaces_array_from_vector(
    const std::vector<common_lib::structures::PathPoint> &input_path, bool is_map_closed);
 
std::vector<common_lib::structures::Cone> cone_vector_from_custom_interfaces(
    const custom_interfaces::msg::ConeArray &msg);
 
 
}  // namespace common_lib::communication