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Merge pull request #320 from gazebosim/arjo/feat/environment_data_messages
Adds a message that allows loading environments via a topic
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‎include/gz/msgs/Utility.hh‎

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@@ -94,6 +94,14 @@ namespace gz
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math::SphericalCoordinates Convert(
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const msgs::SphericalCoordinates &_coord);
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/// \brief Convert a msgs::SphericalCoordinatesType to an
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/// gz::math::SphericalCoordinates::CoordinateTpye
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/// \param[in] _sc The spherical coordinate type to convert
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/// \return A gz::math::SphericalCoordinatesType object
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GZ_MSGS_VISIBLE
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math::SphericalCoordinates::CoordinateType Convert(
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const msgs::SphericalCoordinatesType &_sc);
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/// \brief Convert a msgs::AxisAlignedBox to an
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/// gz::math::AxisAlignedBox
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/// \param[in] _b The axis aligned box to convert
@@ -212,6 +220,14 @@ namespace gz
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msgs::SphericalCoordinates Convert(
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const math::SphericalCoordinates &_coord);
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/// \brief Convert a gz::math::SphericalCoordinates::CoordinateType
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/// to a msgs::SphericalCoordinatesType
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/// \param[in] _coord The spherical coordinates type to convert
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/// \return A gz::msgs::SphericalCoordinatesType object
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GZ_MSGS_VISIBLE
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msgs::SphericalCoordinatesType ConvertCoord(
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const math::SphericalCoordinates::CoordinateType &_coord);
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/// \brief Convert a gz::math::Planed to a msgs::PlaneGeom
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/// \param[in] _p The plane to convert
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/// \return A msgs::PlaneGeom object

‎proto/gz/msgs/data_load_options.proto‎

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/*
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* Copyright (C) 2023 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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syntax = "proto3";
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package gz.msgs;
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option java_package = "com.gz.msgs";
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option java_outer_classname = "DataLoadPathOptions";
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import "gz/msgs/spherical_coordinates.proto";
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/// \brief Used for specifying how to load environmental data
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message DataLoadPathOptions
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{
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/// \brief Units used by spherical coordinates
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enum DataAngularUnits
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{
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RADIANS = 0;
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DEGREES = 1;
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}
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/// \brief File path to load
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string path = 1;
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/// \brief Name of time axis
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string time = 2;
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/// \brief Is the data static in time
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bool static_time = 3;
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/// \brief Name of x axis
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string x = 4;
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/// \brief Name of y axis
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string y = 5;
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/// \brief Name of z axis
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string z = 6;
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/// Units
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DataAngularUnits units = 7;
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/// Spherical Coodinate type
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gz.msgs.SphericalCoordinatesType coordinate_type = 8;
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}

‎proto/gz/msgs/spherical_coordinates.proto‎

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@@ -27,6 +27,26 @@ option java_outer_classname = "SphericalCoordinatesProtos";
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import "gz/msgs/entity.proto";
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import "gz/msgs/header.proto";
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enum SphericalCoordinatesType
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{
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/// \brief Latitude, Longitude and Altitude by SurfaceType
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SPHERICAL = 0;
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/// \brief Earth centered, earth fixed Cartesian
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ECEF = 1;
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/// \brief Local tangent plane (East, North, Up)
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GLOBAL = 2;
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/// \brief Heading-adjusted tangent plane (X, Y, Z)
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/// This has kept a bug for backwards compatibility, use
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/// LOCAL2 for the correct behaviour.
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LOCAL = 3;
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/// \brief Heading-adjusted tangent plane (X, Y, Z)
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LOCAL2 = 4;
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}
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message SphericalCoordinates
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{
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/// \brief Planetary surface models.

‎src/Utility.cc‎

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@@ -176,6 +176,28 @@ namespace gz
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return out;
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}
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/////////////////////////////////////////////
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math::SphericalCoordinates::CoordinateType Convert(
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const msgs::SphericalCoordinatesType &_sc)
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{
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switch (_sc)
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{
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case msgs::SphericalCoordinatesType::ECEF:
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return math::SphericalCoordinates::CoordinateType::ECEF;
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case msgs::SphericalCoordinatesType::GLOBAL:
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return math::SphericalCoordinates::CoordinateType::GLOBAL;
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case msgs::SphericalCoordinatesType::SPHERICAL:
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return math::SphericalCoordinates::CoordinateType::SPHERICAL;
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case msgs::SphericalCoordinatesType::LOCAL:
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return math::SphericalCoordinates::CoordinateType::LOCAL;
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case msgs::SphericalCoordinatesType::LOCAL2:
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return math::SphericalCoordinates::CoordinateType::LOCAL2;
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default:
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std::cerr << "Invalid coordinate type passed" << std::endl;
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}
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return math::SphericalCoordinates::CoordinateType::LOCAL2;
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}
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/////////////////////////////////////////////
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math::AxisAlignedBox Convert(const msgs::AxisAlignedBox &_b)
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{
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return result;
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}
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/////////////////////////////////////////////
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msgs::SphericalCoordinatesType ConvertCoord(
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const math::SphericalCoordinates::CoordinateType &_sc)
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{
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auto result = msgs::SphericalCoordinatesType::LOCAL2;
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switch (_sc)
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{
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case math::SphericalCoordinates::CoordinateType::ECEF:
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result = msgs::SphericalCoordinatesType::ECEF;
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break;
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case math::SphericalCoordinates::CoordinateType::GLOBAL:
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result = msgs::SphericalCoordinatesType::GLOBAL;
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break;
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case math::SphericalCoordinates::CoordinateType::SPHERICAL:
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result = msgs::SphericalCoordinatesType::SPHERICAL;
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break;
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case math::SphericalCoordinates::CoordinateType::LOCAL:
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result = msgs::SphericalCoordinatesType::LOCAL;
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break;
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case math::SphericalCoordinates::CoordinateType::LOCAL2:
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result = msgs::SphericalCoordinatesType::LOCAL2;
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break;
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default:
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std::cerr << "Invalid coordinate type passed" << std::endl;
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}
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return result;
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}
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/////////////////////////////////////////////
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msgs::PlaneGeom Convert(const gz::math::Planed &_p)
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{

‎src/Utility_TEST.cc‎

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@@ -398,6 +398,46 @@ TEST(MsgsTest, ConvertMathSphericalCoordinatesToMsgs)
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EXPECT_DOUBLE_EQ(10000, mathCustom.SurfaceAxisPolar());
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}
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/////////////////////////////////////////////////
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TEST(MsgsTest, ConvertMsgsSphericalCoordinatesTypeToMath)
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{
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EXPECT_EQ(Convert(msgs::SphericalCoordinatesType::ECEF),
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math::SphericalCoordinates::CoordinateType::ECEF);
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EXPECT_EQ(Convert(msgs::SphericalCoordinatesType::GLOBAL),
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math::SphericalCoordinates::CoordinateType::GLOBAL);
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EXPECT_EQ(Convert(msgs::SphericalCoordinatesType::SPHERICAL),
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math::SphericalCoordinates::CoordinateType::SPHERICAL);
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EXPECT_EQ(Convert(msgs::SphericalCoordinatesType::LOCAL),
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math::SphericalCoordinates::CoordinateType::LOCAL);
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EXPECT_EQ(Convert(msgs::SphericalCoordinatesType::LOCAL2),
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math::SphericalCoordinates::CoordinateType::LOCAL2);
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EXPECT_EQ(Convert((msgs::SphericalCoordinatesType)500000),
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math::SphericalCoordinates::CoordinateType::LOCAL2);
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}
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/////////////////////////////////////////////////
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TEST(MsgsTest, ConvertMathSphericalCoordinatedTypeToMsg)
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{
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EXPECT_EQ(msgs::ConvertCoord(
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math::SphericalCoordinates::CoordinateType::ECEF),
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msgs::SphericalCoordinatesType::ECEF);
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EXPECT_EQ(msgs::ConvertCoord(
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math::SphericalCoordinates::CoordinateType::GLOBAL),
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msgs::SphericalCoordinatesType::GLOBAL);
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EXPECT_EQ(msgs::ConvertCoord(
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math::SphericalCoordinates::CoordinateType::SPHERICAL),
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msgs::SphericalCoordinatesType::SPHERICAL);
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EXPECT_EQ(msgs::ConvertCoord(
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math::SphericalCoordinates::CoordinateType::LOCAL),
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msgs::SphericalCoordinatesType::LOCAL);
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EXPECT_EQ(msgs::ConvertCoord(
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math::SphericalCoordinates::CoordinateType::LOCAL2),
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msgs::SphericalCoordinatesType::LOCAL2);
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EXPECT_EQ(msgs::ConvertCoord(
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(math::SphericalCoordinates::CoordinateType)500000),
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msgs::SphericalCoordinatesType::LOCAL2);
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}
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/////////////////////////////////////////////////
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TEST(UtilityTest, ConvertStringMsg)
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{

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