From 5fc7a7ece189cc904d9b53988273c12b352ca70d Mon Sep 17 00:00:00 2001
From: Michael Carroll <mjcarroll@intrinsic.ai>
Date: Thu, 22 Jun 2023 20:28:11 +0000
Subject: [PATCH] Drop template from conversions

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
---
 core/include/gz/msgs/Converter.hh             |  74 --------
 .../include/gz/msgs/convert/AxisAlignedBox.hh |  34 ++--
 core/include/gz/msgs/convert/Color.hh         |  20 +--
 core/include/gz/msgs/convert/DiscoveryType.hh |   2 -
 core/include/gz/msgs/convert/FuelMetadata.hh  |   5 +-
 core/include/gz/msgs/convert/GeometryType.hh  |   1 -
 core/include/gz/msgs/convert/Inertial.hh      |  46 ++---
 core/include/gz/msgs/convert/Plane.hh         |  26 ++-
 core/include/gz/msgs/convert/Pose.hh          |  32 ++--
 core/include/gz/msgs/convert/Quaternion.hh    |  20 +--
 .../gz/msgs/convert/SphericalCoordinates.hh   |  26 ++-
 core/include/gz/msgs/convert/StdTypes.hh      | 168 +++++++++---------
 core/include/gz/msgs/convert/Vector2.hh       |  18 +-
 core/include/gz/msgs/convert/Vector3.hh       |  18 +-
 14 files changed, 178 insertions(+), 312 deletions(-)
 delete mode 100644 core/include/gz/msgs/Converter.hh

diff --git a/core/include/gz/msgs/Converter.hh b/core/include/gz/msgs/Converter.hh
deleted file mode 100644
index 637dbb69..00000000
--- a/core/include/gz/msgs/Converter.hh
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * Copyright (C) 2023 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
-*/
-#ifndef GZ_MSGS_CONVERTER_HH_
-#define GZ_MSGS_CONVERTER_HH_
-
-#include <type_traits>
-#include <google/protobuf/message.h>
-
-#include "gz/msgs/config.hh"
-#include "gz/msgs/Export.hh"
-
-namespace gz::msgs {
-// Inline bracket to help doxygen filtering.
-inline namespace GZ_MSGS_VERSION_NAMESPACE {
-
-template <typename MessageT,
-  typename DataT,
-  std::enable_if_t<
-    std::is_base_of_v<
-      google::protobuf::Message, MessageT>, bool> = true>
-struct Converter
-{
-  static void Set(MessageT *_msg, const DataT &_data);
-  static void Set(DataT *_data, const MessageT &_msg);
-
-  static DataT Convert(const MessageT &_msg){
-    DataT ret;
-    Converter<MessageT, DataT>::Set(&ret, _msg);
-    return ret;
-  }
-
-  static MessageT Convert(const DataT &_data){
-    MessageT ret;
-    Converter<MessageT, DataT>::Set(&ret, _data);
-    return ret;
-  }
-};
-
-template <typename MessageT,
-  typename DataT,
-  std::enable_if_t<
-    std::is_base_of_v<
-      google::protobuf::Message, MessageT>, bool> = true>
-void Set(MessageT *_msg, const DataT &_data)
-{
-  Converter<MessageT, DataT>::Set(_msg, _data);
-}
-
-template <typename MessageT,
-  typename DataT,
-  std::enable_if_t<
-    std::is_base_of_v<
-      google::protobuf::Message, MessageT>, bool> = true>
-void Set(DataT *_data , const MessageT &_msg)
-{
-  Converter<MessageT, DataT>::Set(_data, _msg);
-}
-}  // namespace
-}  // namespace gz::msgs
-#endif  // GZ_MSGS_CONVERTER_HH_
diff --git a/core/include/gz/msgs/convert/AxisAlignedBox.hh b/core/include/gz/msgs/convert/AxisAlignedBox.hh
index d6bdbcc0..d49fbc8d 100644
--- a/core/include/gz/msgs/convert/AxisAlignedBox.hh
+++ b/core/include/gz/msgs/convert/AxisAlignedBox.hh
@@ -17,7 +17,6 @@
 #ifndef GZ_MSGS_CONVERT_AXISALIGNEDBOX_HH_
 #define GZ_MSGS_CONVERT_AXISALIGNEDBOX_HH_
 
-#include <gz/msgs/Converter.hh>
 #include <gz/msgs/convert/Vector3.hh>
 
 // Message Headers
@@ -31,38 +30,33 @@ namespace gz::msgs {
 inline namespace GZ_MSGS_VERSION_NAMESPACE {
 
 /////////////////////////////////
-template<>
-inline void
-Converter<gz::msgs::AxisAlignedBox, gz::math::AxisAlignedBox>::Set(
-    gz::msgs::AxisAlignedBox *_msg, const gz::math::AxisAlignedBox &_data)
+inline void Set(gz::msgs::AxisAlignedBox *_msg,
+                const gz::math::AxisAlignedBox &_data)
 {
-  using Vector3Converter = Converter<gz::msgs::Vector3d, gz::math::Vector3d>;
-  Vector3Converter::Set(_msg->mutable_min_corner(), _data.Min());
-  Vector3Converter::Set(_msg->mutable_max_corner(), _data.Max());
+  Set(_msg->mutable_min_corner(), _data.Min());
+  Set(_msg->mutable_max_corner(), _data.Max());
 }
 
-template<>
-inline void Converter<gz::msgs::AxisAlignedBox, gz::math::AxisAlignedBox>::Set(
-    gz::math::AxisAlignedBox *_data, const gz::msgs::AxisAlignedBox &_msg)
+inline void Set(gz::math::AxisAlignedBox *_data,
+                const gz::msgs::AxisAlignedBox &_msg)
 {
-  using Vector3Converter = Converter<gz::msgs::Vector3d, gz::math::Vector3d>;
-  Vector3Converter::Set(&_data->Min(), _msg.min_corner());
-  Vector3Converter::Set(&_data->Max(), _msg.max_corner());
+  Set(&_data->Min(), _msg.min_corner());
+  Set(&_data->Max(), _msg.max_corner());
 }
 
 inline gz::msgs::AxisAlignedBox Convert(const gz::math::AxisAlignedBox &_data)
 {
-  return Converter<gz::msgs::AxisAlignedBox,
-                   gz::math::AxisAlignedBox>::Convert(_data);
+  gz::msgs::AxisAlignedBox ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline gz::math::AxisAlignedBox Convert(const gz::msgs::AxisAlignedBox &_msg)
 {
-  return Converter<gz::msgs::AxisAlignedBox,
-                   gz::math::AxisAlignedBox>::Convert(_msg);
+  gz::math::AxisAlignedBox ret;
+  Set(&ret, _msg);
+  return ret;
 }
-
-
 }  // namespce
 }  // namespace gz::msgs
 
diff --git a/core/include/gz/msgs/convert/Color.hh b/core/include/gz/msgs/convert/Color.hh
index fa5385db..1c832038 100644
--- a/core/include/gz/msgs/convert/Color.hh
+++ b/core/include/gz/msgs/convert/Color.hh
@@ -17,8 +17,6 @@
 #ifndef GZ_MSGS_CONVERT_COLOR_HH_
 #define GZ_MSGS_CONVERT_COLOR_HH_
 
-#include <gz/msgs/Converter.hh>
-
 // Message Headers
 #include "gz/msgs/color.pb.h"
 
@@ -30,9 +28,7 @@ namespace gz::msgs {
 inline namespace GZ_MSGS_VERSION_NAMESPACE {
 
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::Color, gz::math::Color>::Set(
-    gz::msgs::Color *_msg, const gz::math::Color &_data)
+inline void Set(gz::msgs::Color *_msg, const gz::math::Color &_data)
 {
   _msg->set_r(_data.R());
   _msg->set_g(_data.G());
@@ -40,24 +36,24 @@ inline void Converter<gz::msgs::Color, gz::math::Color>::Set(
   _msg->set_a(_data.A());
 }
 
-template<>
-inline void Converter<gz::msgs::Color, gz::math::Color>::Set(
-    gz::math::Color *_data, const gz::msgs::Color &_msg)
+inline void Set(gz::math::Color *_data, const gz::msgs::Color &_msg)
 {
   _data->Set(_msg.r(), _msg.g(), _msg.b(), _msg.a());
 }
 
 inline gz::msgs::Color Convert(const gz::math::Color &_data)
 {
-  return Converter<gz::msgs::Color, gz::math::Color>::Convert(_data);
+  gz::msgs::Color ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline gz::math::Color Convert(const gz::msgs::Color &_msg)
 {
-  return Converter<gz::msgs::Color, gz::math::Color>::Convert(_msg);
+  gz::math::Color ret;
+  Set(&ret, _msg);
+  return ret;
 }
-
-
 }  // namespce
 }  // namespace gz::msgs
 
diff --git a/core/include/gz/msgs/convert/DiscoveryType.hh b/core/include/gz/msgs/convert/DiscoveryType.hh
index f3e1a262..d9b78fae 100644
--- a/core/include/gz/msgs/convert/DiscoveryType.hh
+++ b/core/include/gz/msgs/convert/DiscoveryType.hh
@@ -116,8 +116,6 @@ inline std::string ToString(const msgs::Discovery::Type &_t)
 {
   return ConvertDiscoveryType(_t);
 }
-
-
 }  // namespce
 }  // namespace gz::msgs
 
diff --git a/core/include/gz/msgs/convert/FuelMetadata.hh b/core/include/gz/msgs/convert/FuelMetadata.hh
index 7e1f1d30..e58d58ab 100644
--- a/core/include/gz/msgs/convert/FuelMetadata.hh
+++ b/core/include/gz/msgs/convert/FuelMetadata.hh
@@ -33,7 +33,7 @@ inline namespace GZ_MSGS_VERSION_NAMESPACE {
 
 /////////////////////////////////////////////////
 inline bool ConvertFuelMetadata(const std::string &_modelConfigStr,
-                         msgs::FuelMetadata &_meta)
+                                msgs::FuelMetadata &_meta)
 {
   gz::msgs::FuelMetadata meta;
 
@@ -184,7 +184,7 @@ inline bool ConvertFuelMetadata(const std::string &_modelConfigStr,
 
 /////////////////////////////////////////////////
 inline bool ConvertFuelMetadata(const msgs::FuelMetadata &_meta,
-                         std::string &_modelConfigStr)
+                                std::string &_modelConfigStr)
 {
   std::ostringstream out;
 
@@ -252,7 +252,6 @@ inline bool ConvertFuelMetadata(const msgs::FuelMetadata &_meta,
   _modelConfigStr = out.str();
   return true;
 }
-
 }  // namespce
 }  // namespace gz::msgs
 
diff --git a/core/include/gz/msgs/convert/GeometryType.hh b/core/include/gz/msgs/convert/GeometryType.hh
index 54abd424..e8152fd7 100644
--- a/core/include/gz/msgs/convert/GeometryType.hh
+++ b/core/include/gz/msgs/convert/GeometryType.hh
@@ -150,7 +150,6 @@ inline std::string ConvertGeometryType(const msgs::Geometry::Type _type)
   }
   return result;
 }
-
 }  // namespce
 }  // namespace gz::msgs
 
diff --git a/core/include/gz/msgs/convert/Inertial.hh b/core/include/gz/msgs/convert/Inertial.hh
index c1ca839d..7e46b507 100644
--- a/core/include/gz/msgs/convert/Inertial.hh
+++ b/core/include/gz/msgs/convert/Inertial.hh
@@ -17,7 +17,6 @@
 #ifndef GZ_MSGS_CONVERT_INERTIAL_HH_
 #define GZ_MSGS_CONVERT_INERTIAL_HH_
 
-#include <gz/msgs/Converter.hh>
 #include <gz/msgs/convert/Pose.hh>
 #include <gz/msgs/convert/Vector3.hh>
 
@@ -33,9 +32,7 @@ namespace gz::msgs {
 inline namespace GZ_MSGS_VERSION_NAMESPACE {
 
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::Inertial, gz::math::MassMatrix3d>::Set(
-    gz::msgs::Inertial *_msg, const gz::math::MassMatrix3d &_data)
+inline void Set(gz::msgs::Inertial *_msg, const gz::math::MassMatrix3d &_data)
 {
   _msg->set_mass(_data.Mass());
   _msg->set_ixx(_data.Ixx());
@@ -47,9 +44,7 @@ inline void Converter<gz::msgs::Inertial, gz::math::MassMatrix3d>::Set(
   _msg->mutable_pose()->mutable_orientation()->set_w(1);
 }
 
-template<>
-inline void Converter<gz::msgs::Inertial, gz::math::MassMatrix3d>::Set(
-    gz::math::MassMatrix3d *_data, const gz::msgs::Inertial &_msg)
+inline void Set(gz::math::MassMatrix3d *_data, const gz::msgs::Inertial &_msg)
 {
   _data->SetMass(_msg.mass());
   _data->SetIxx(_msg.ixx());
@@ -62,25 +57,16 @@ inline void Converter<gz::msgs::Inertial, gz::math::MassMatrix3d>::Set(
 
 inline gz::msgs::Inertial Convert(const gz::math::MassMatrix3d &_data)
 {
-  return Converter<gz::msgs::Inertial, gz::math::MassMatrix3d>::Convert(_data);
+  gz::msgs::Inertial ret;
+  Set(&ret, _data);
+  return ret;
 }
 
-/*
-inline gz::math::MassMatrix3d Convert(const gz::msgs::Inertial &_msg)
-{
-  return Converter<gz::msgs::Inertial, gz::math::MassMatrix3d>::Convert(_msg);
-}
-*/
-
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::Inertial, gz::math::Inertiald>::Set(
-    gz::msgs::Inertial *_msg, const gz::math::Inertiald &_data)
+inline void Set(gz::msgs::Inertial *_msg, const gz::math::Inertiald &_data)
 {
-  Converter<gz::msgs::Inertial, gz::math::MassMatrix3d>::Set(
-        _msg, _data.MassMatrix());
-  Converter<gz::msgs::Pose, gz::math::Pose3d>::Set(
-        _msg->mutable_pose(), _data.Pose());
+  Set(_msg, _data.MassMatrix());
+  Set(_msg->mutable_pose(), _data.Pose());
 
   if (_data.FluidAddedMass().has_value())
   {
@@ -108,16 +94,14 @@ inline void Converter<gz::msgs::Inertial, gz::math::Inertiald>::Set(
   }
 }
 
-template<>
-inline void Converter<gz::msgs::Inertial, gz::math::Inertiald>::Set(
-    gz::math::Inertiald *_data, const gz::msgs::Inertial &_msg)
+inline void Set(gz::math::Inertiald *_data, const gz::msgs::Inertial &_msg)
 {
   gz::math::MassMatrix3d to_set = _data->MassMatrix();
-  Converter<gz::msgs::Inertial, gz::math::MassMatrix3d>::Set(&to_set, _msg);
+  Set(&to_set, _msg);
   _data->SetMassMatrix(to_set);
 
   gz::math::Pose3d pose_to_set = _data->Pose();
-  Converter<gz::msgs::Pose, gz::math::Pose3d>::Set(&pose_to_set, _msg.pose());
+  Set(&pose_to_set, _msg.pose());
   _data->SetPose(pose_to_set);
 
   if (_msg.fluid_added_mass_size() == 21)
@@ -171,12 +155,16 @@ inline void Converter<gz::msgs::Inertial, gz::math::Inertiald>::Set(
 
 inline gz::msgs::Inertial Convert(const gz::math::Inertiald &_data)
 {
-  return Converter<gz::msgs::Inertial, gz::math::Inertiald>::Convert(_data);
+  gz::msgs::Inertial ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline gz::math::Inertiald Convert(const gz::msgs::Inertial &_msg)
 {
-  return Converter<gz::msgs::Inertial, gz::math::Inertiald>::Convert(_msg);
+  gz::math::Inertiald ret;
+  Set(&ret, _msg);
+  return ret;
 }
 }  // namespce
 }  // namespace gz::msgs
diff --git a/core/include/gz/msgs/convert/Plane.hh b/core/include/gz/msgs/convert/Plane.hh
index b6902c62..b10e19ae 100644
--- a/core/include/gz/msgs/convert/Plane.hh
+++ b/core/include/gz/msgs/convert/Plane.hh
@@ -17,7 +17,6 @@
 #ifndef GZ_MSGS_CONVERT_PLANE_HH_
 #define GZ_MSGS_CONVERT_PLANE_HH_
 
-#include <gz/msgs/Converter.hh>
 #include <gz/msgs/convert/Vector2.hh>
 #include <gz/msgs/convert/Vector3.hh>
 
@@ -32,39 +31,36 @@ namespace gz::msgs {
 inline namespace GZ_MSGS_VERSION_NAMESPACE {
 
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::PlaneGeom, gz::math::Planed>::Set(
-    gz::msgs::PlaneGeom *_msg, const gz::math::Planed &_data)
+inline void Set(gz::msgs::PlaneGeom *_msg, const gz::math::Planed &_data)
 {
-  Converter<gz::msgs::Vector3d, gz::math::Vector3d>::Set(
-        _msg->mutable_normal(), _data.Normal());
+  Set(_msg->mutable_normal(), _data.Normal());
   _msg->mutable_size()->set_x(_data.Size().X());
   _msg->mutable_size()->set_y(_data.Size().Y());
   _msg->set_d(_data.Offset());
 }
 
-template<>
-inline void Converter<gz::msgs::PlaneGeom, gz::math::Planed>::Set(
-    gz::math::Planed *_data, const gz::msgs::PlaneGeom &_msg)
+inline void Set(gz::math::Planed *_data, const gz::msgs::PlaneGeom &_msg)
 {
   _data->Set(
-    Converter<gz::msgs::Vector3d, gz::math::Vector3d>::Convert(_msg.normal()),
-    Converter<gz::msgs::Vector2d, gz::math::Vector2d>::Convert(_msg.size()),
+    Convert(_msg.normal()),
+    Convert(_msg.size()),
     _msg.d()
   );
 }
 
 inline gz::msgs::PlaneGeom Convert(const gz::math::Planed &_data)
 {
-  return Converter<gz::msgs::PlaneGeom, gz::math::Planed>::Convert(_data);
+  gz::msgs::PlaneGeom ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline gz::math::Planed Convert(const gz::msgs::PlaneGeom &_msg)
 {
-  return Converter<gz::msgs::PlaneGeom, gz::math::Planed>::Convert(_msg);
+  gz::math::Planed ret;
+  Set(&ret, _msg);
+  return ret;
 }
-
-
 }  // namespce
 }  // namespace gz::msgs
 
diff --git a/core/include/gz/msgs/convert/Pose.hh b/core/include/gz/msgs/convert/Pose.hh
index 2774bc73..b9ff158c 100644
--- a/core/include/gz/msgs/convert/Pose.hh
+++ b/core/include/gz/msgs/convert/Pose.hh
@@ -17,7 +17,6 @@
 #ifndef GZ_MSGS_CONVERT_POSE_HH_
 #define GZ_MSGS_CONVERT_POSE_HH_
 
-#include <gz/msgs/Converter.hh>
 #include <gz/msgs/convert/Vector3.hh>
 #include <gz/msgs/convert/Quaternion.hh>
 
@@ -33,39 +32,32 @@ namespace gz::msgs {
 inline namespace GZ_MSGS_VERSION_NAMESPACE {
 
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::Pose, gz::math::Pose3d>::Set(
-    gz::msgs::Pose *_msg, const gz::math::Pose3d &_data)
+inline void Set(gz::msgs::Pose *_msg, const gz::math::Pose3d &_data)
 {
-  Converter<gz::msgs::Vector3d, gz::math::Vector3d>::Set(
-        _msg->mutable_position(), _data.Pos());
-  Converter<gz::msgs::Quaternion, gz::math::Quaterniond>::Set(
-        _msg->mutable_orientation(), _data.Rot());
+  Set(_msg->mutable_position(), _data.Pos());
+  Set(_msg->mutable_orientation(), _data.Rot());
 }
 
-template<>
-inline void Converter<gz::msgs::Pose, gz::math::Pose3d>::Set(
-    gz::math::Pose3d *_data, const gz::msgs::Pose &_msg)
+inline void Set(gz::math::Pose3d *_data, const gz::msgs::Pose &_msg)
 {
-  auto pos = Converter<gz::msgs::Vector3d, gz::math::Vector3d>::Convert(
-        _msg.position());
-  auto orientation =
-      Converter<gz::msgs::Quaternion, gz::math::Quaterniond>::Convert(
-        _msg.orientation());
+  auto pos = Convert(_msg.position());
+  auto orientation = Convert(_msg.orientation());
   _data->Set(pos, orientation);
 }
 
 inline gz::msgs::Pose Convert(const gz::math::Pose3d &_data)
 {
-  return Converter<gz::msgs::Pose, gz::math::Pose3d>::Convert(_data);
+  gz::msgs::Pose ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline gz::math::Pose3d Convert(const gz::msgs::Pose &_msg)
 {
-  return Converter<gz::msgs::Pose, gz::math::Pose3d>::Convert(_msg);
+  gz::math::Pose3d ret;
+  Set(&ret, _msg);
+  return ret;
 }
-
-
 }  // namespce
 }  // namespace gz::msgs
 
diff --git a/core/include/gz/msgs/convert/Quaternion.hh b/core/include/gz/msgs/convert/Quaternion.hh
index 943f46b7..2f243d71 100644
--- a/core/include/gz/msgs/convert/Quaternion.hh
+++ b/core/include/gz/msgs/convert/Quaternion.hh
@@ -17,8 +17,6 @@
 #ifndef GZ_MSGS_CONVERT_QUATERNION_HH_
 #define GZ_MSGS_CONVERT_QUATERNION_HH_
 
-#include <gz/msgs/Converter.hh>
-
 // Message Headers
 #include "gz/msgs/quaternion.pb.h"
 
@@ -30,9 +28,7 @@ namespace gz::msgs {
 inline namespace GZ_MSGS_VERSION_NAMESPACE {
 
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::Quaternion, gz::math::Quaterniond>::Set(
-    gz::msgs::Quaternion *_msg, const gz::math::Quaterniond &_data)
+inline void Set(gz::msgs::Quaternion *_msg, const gz::math::Quaterniond &_data)
 {
   _msg->set_w(_data.W());
   _msg->set_x(_data.X());
@@ -40,24 +36,24 @@ inline void Converter<gz::msgs::Quaternion, gz::math::Quaterniond>::Set(
   _msg->set_z(_data.Z());
 }
 
-template<>
-inline void Converter<gz::msgs::Quaternion, gz::math::Quaterniond>::Set(
-    gz::math::Quaterniond *_data, const gz::msgs::Quaternion &_msg)
+inline void Set(gz::math::Quaterniond *_data, const gz::msgs::Quaternion &_msg)
 {
   _data->Set(_msg.w(), _msg.x(), _msg.y(), _msg.z());
 }
 
 inline gz::msgs::Quaternion Convert(const gz::math::Quaterniond &_data)
 {
-  return Converter<gz::msgs::Quaternion, gz::math::Quaterniond>::Convert(_data);
+  gz::msgs::Quaternion ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline gz::math::Quaterniond Convert(const gz::msgs::Quaternion &_msg)
 {
-  return Converter<gz::msgs::Quaternion, gz::math::Quaterniond>::Convert(_msg);
+  gz::math::Quaterniond ret;
+  Set(&ret, _msg);
+  return ret;
 }
-
-
 }  // namespce
 }  // namespace gz::msgs
 
diff --git a/core/include/gz/msgs/convert/SphericalCoordinates.hh b/core/include/gz/msgs/convert/SphericalCoordinates.hh
index 9af53bf0..cb08faa1 100644
--- a/core/include/gz/msgs/convert/SphericalCoordinates.hh
+++ b/core/include/gz/msgs/convert/SphericalCoordinates.hh
@@ -17,8 +17,6 @@
 #ifndef GZ_MSGS_CONVERT_SPHERICALCOORDINATES_HH_
 #define GZ_MSGS_CONVERT_SPHERICALCOORDINATES_HH_
 
-#include <gz/msgs/Converter.hh>
-
 // Message Headers
 #include "gz/msgs/spherical_coordinates.pb.h"
 
@@ -30,11 +28,8 @@ namespace gz::msgs {
 inline namespace GZ_MSGS_VERSION_NAMESPACE {
 
 /////////////////////////////////
-template<>
-inline void
-Converter<gz::msgs::SphericalCoordinates, gz::math::SphericalCoordinates>::Set(
-    gz::msgs::SphericalCoordinates *_msg,
-    const gz::math::SphericalCoordinates &_data)
+inline void Set(gz::msgs::SphericalCoordinates *_msg,
+                const gz::math::SphericalCoordinates &_data)
 {
   if (_data.Surface() == math::SphericalCoordinates::EARTH_WGS84)
   {
@@ -64,11 +59,8 @@ Converter<gz::msgs::SphericalCoordinates, gz::math::SphericalCoordinates>::Set(
   _msg->set_heading_deg(_data.HeadingOffset().Degree());
 }
 
-template<>
-inline void
-Converter<gz::msgs::SphericalCoordinates, gz::math::SphericalCoordinates>::Set(
-    gz::math::SphericalCoordinates *_data,
-    const gz::msgs::SphericalCoordinates &_msg)
+inline void Set(gz::math::SphericalCoordinates *_data,
+                const gz::msgs::SphericalCoordinates &_msg)
 {
   if (_msg.surface_model() == msgs::SphericalCoordinates::EARTH_WGS84)
   {
@@ -109,15 +101,17 @@ Converter<gz::msgs::SphericalCoordinates, gz::math::SphericalCoordinates>::Set(
 inline gz::msgs::SphericalCoordinates
 Convert(const gz::math::SphericalCoordinates &_data)
 {
-  return Converter<gz::msgs::SphericalCoordinates,
-                   gz::math::SphericalCoordinates>::Convert(_data);
+  gz::msgs::SphericalCoordinates ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline gz::math::SphericalCoordinates
   Convert(const gz::msgs::SphericalCoordinates &_msg)
 {
-  return Converter<gz::msgs::SphericalCoordinates,
-                   gz::math::SphericalCoordinates>::Convert(_msg);
+  gz::math::SphericalCoordinates ret;
+  Set(&ret, _msg);
+  return ret;
 }
 }  // namespce
 }  // namespace gz::msgs
diff --git a/core/include/gz/msgs/convert/StdTypes.hh b/core/include/gz/msgs/convert/StdTypes.hh
index 932b02f8..20e2bff8 100644
--- a/core/include/gz/msgs/convert/StdTypes.hh
+++ b/core/include/gz/msgs/convert/StdTypes.hh
@@ -19,8 +19,6 @@
 
 #include <gz/math/Helpers.hh>
 
-#include <gz/msgs/Converter.hh>
-
 // Message Headers
 #include "gz/msgs/boolean.pb.h"
 #include "gz/msgs/double.pb.h"
@@ -42,10 +40,8 @@ namespace gz::msgs {
 inline namespace GZ_MSGS_VERSION_NAMESPACE {
 
 /////////////////////////////////
-template<>
-inline void
-Converter<gz::msgs::Time, std::chrono::steady_clock::duration>::Set(
-    gz::msgs::Time *_msg, const std::chrono::steady_clock::duration &_data)
+inline void Set(gz::msgs::Time *_msg,
+                const std::chrono::steady_clock::duration &_data)
 {
   std::pair<uint64_t, uint64_t> timeSecAndNsecs =
         gz::math::durationToSecNsec(_data);
@@ -54,236 +50,232 @@ Converter<gz::msgs::Time, std::chrono::steady_clock::duration>::Set(
   _msg->set_nsec(timeSecAndNsecs.second);
 }
 
-template<>
-inline void
-Converter<gz::msgs::Time, std::chrono::steady_clock::duration>::Set(
-    std::chrono::steady_clock::duration *_data, const gz::msgs::Time &_msg)
+inline void Set(std::chrono::steady_clock::duration *_data,
+                const gz::msgs::Time &_msg)
 {
   *_data = (
       std::chrono::seconds(_msg.sec()) +
       std::chrono::nanoseconds(_msg.nsec()));
 }
 
-inline gz::msgs::Time
-Convert(const std::chrono::steady_clock::duration &_data)
+inline gz::msgs::Time Convert(const std::chrono::steady_clock::duration &_data)
 {
-  return Converter<gz::msgs::Time,
-                   std::chrono::steady_clock::duration>::Convert(_data);
+  gz::msgs::Time ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline std::chrono::steady_clock::duration
 Convert(const gz::msgs::Time &_msg)
 {
-  return Converter<gz::msgs::Time,
-                   std::chrono::steady_clock::duration>::Convert(_msg);
+  std::chrono::steady_clock::duration ret;
+  Set(&ret, _msg);
+  return ret;
 }
 
 /////////////////////////////////
-template<>
-inline void
-Converter<gz::msgs::StringMsg, std::string>::Set(
-    gz::msgs::StringMsg *_msg, const std::string &_data)
+inline void Set(gz::msgs::StringMsg *_msg, const std::string &_data)
 {
   _msg->set_data(_data);
 }
 
-template<>
-inline void
-Converter<gz::msgs::StringMsg, std::string>::Set(
-    std::string *_data, const gz::msgs::StringMsg &_msg)
+inline void Set(gz::msgs::StringMsg *_msg, const char *_data)
 {
-  *_data = _msg.data();
+  _msg->set_data(_data);
 }
 
-inline gz::msgs::StringMsg
-Convert(const std::string &_data)
+inline void Set(std::string *_data, const gz::msgs::StringMsg &_msg)
 {
-  return Converter<gz::msgs::StringMsg, std::string>::Convert(_data);
+  *_data = _msg.data();
 }
 
-inline std::string Convert(const gz::msgs::StringMsg &_msg)
+inline gz::msgs::StringMsg Convert(const std::string &_data)
 {
-  return Converter<gz::msgs::StringMsg, std::string>::Convert(_msg);
+  gz::msgs::StringMsg ret;
+  Set(&ret, _data);
+  return ret;
 }
 
-inline void Set(gz::msgs::StringMsg *_msg, const char *_data)
+inline std::string Convert(const gz::msgs::StringMsg &_msg)
 {
-  _msg->set_data(_data);
+  std::string ret;
+  Set(&ret, _msg);
+  return ret;
 }
 
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::Boolean, bool>::Set(
-    gz::msgs::Boolean *_msg, const bool &_data)
+inline void Set(gz::msgs::Boolean *_msg, const bool &_data)
 {
   _msg->set_data(_data);
 }
 
-template<>
-inline void Converter<gz::msgs::Boolean, bool>::Set(
-    bool *_data, const gz::msgs::Boolean &_msg)
+inline void Set(bool *_data, const gz::msgs::Boolean &_msg)
 {
   *_data = _msg.data();
 }
 
 inline gz::msgs::Boolean Convert(const bool &_data)
 {
-  return Converter<gz::msgs::Boolean, bool>::Convert(_data);
+  gz::msgs::Boolean ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline bool Convert(const gz::msgs::Boolean &_msg)
 {
-  return Converter<gz::msgs::Boolean, bool>::Convert(_msg);
+  bool ret;
+  Set(&ret, _msg);
+  return ret;
 }
 
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::Int32, int32_t>::Set(
-    gz::msgs::Int32 *_msg, const int32_t &_data)
+inline void Set(gz::msgs::Int32 *_msg, const int32_t &_data)
 {
   _msg->set_data(_data);
 }
 
-template<>
-inline void Converter<gz::msgs::Int32, int32_t>::Set(
-    int32_t *_data, const gz::msgs::Int32 &_msg)
+inline void Set(int32_t *_data, const gz::msgs::Int32 &_msg)
 {
   *_data = _msg.data();
 }
 
 inline gz::msgs::Int32 Convert(const int32_t &_data)
 {
-  return Converter<gz::msgs::Int32, int32_t>::Convert(_data);
+  gz::msgs::Int32 ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline int32_t Convert(const gz::msgs::Int32 &_msg)
 {
-  return Converter<gz::msgs::Int32, int32_t>::Convert(_msg);
+  int32_t ret;
+  Set(&ret, _msg);
+  return ret;
 }
 
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::UInt32, uint32_t>::Set(
-    gz::msgs::UInt32 *_msg, const uint32_t &_data)
+inline void Set(gz::msgs::UInt32 *_msg, const uint32_t &_data)
 {
   _msg->set_data(_data);
 }
 
-template<>
-inline void Converter<gz::msgs::UInt32, uint32_t>::Set(
-    uint32_t *_data, const gz::msgs::UInt32 &_msg)
+inline void Set(uint32_t *_data, const gz::msgs::UInt32 &_msg)
 {
   *_data = _msg.data();
 }
 
 inline gz::msgs::UInt32 Convert(const uint32_t &_data)
 {
-  return Converter<gz::msgs::UInt32, uint32_t>::Convert(_data);
+  gz::msgs::UInt32 ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline uint32_t Convert(const gz::msgs::UInt32 &_msg)
 {
-  return Converter<gz::msgs::UInt32, uint32_t>::Convert(_msg);
+  uint32_t ret;
+  Set(&ret, _msg);
+  return ret;
 }
 
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::Int64, int64_t>::Set(
-    gz::msgs::Int64 *_msg, const int64_t &_data)
+inline void Set(gz::msgs::Int64 *_msg, const int64_t &_data)
 {
   _msg->set_data(_data);
 }
 
-template<>
-inline void Converter<gz::msgs::Int64, int64_t>::Set(
-    int64_t *_data, const gz::msgs::Int64 &_msg)
+inline void Set(int64_t *_data, const gz::msgs::Int64 &_msg)
 {
   *_data = _msg.data();
 }
 
 inline gz::msgs::Int64 Convert(const int64_t &_data)
 {
-  return Converter<gz::msgs::Int64, int64_t>::Convert(_data);
+  gz::msgs::Int64 ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline int64_t Convert(const gz::msgs::Int64 &_msg)
 {
-  return Converter<gz::msgs::Int64, int64_t>::Convert(_msg);
+  int64_t ret;
+  Set(&ret, _msg);
+  return ret;
 }
 
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::UInt64, uint64_t>::Set(
-    gz::msgs::UInt64 *_msg, const uint64_t &_data)
+inline void Set(gz::msgs::UInt64 *_msg, const uint64_t &_data)
 {
   _msg->set_data(_data);
 }
 
-template<>
-inline void Converter<gz::msgs::UInt64, uint64_t>::Set(
-    uint64_t *_data, const gz::msgs::UInt64 &_msg)
+inline void Set(uint64_t *_data, const gz::msgs::UInt64 &_msg)
 {
   *_data = _msg.data();
 }
 
 inline gz::msgs::UInt64 Convert(const uint64_t &_data)
 {
-  return Converter<gz::msgs::UInt64, uint64_t>::Convert(_data);
+  gz::msgs::UInt64 ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline uint64_t Convert(const gz::msgs::UInt64 &_msg)
 {
-  return Converter<gz::msgs::UInt64, uint64_t>::Convert(_msg);
+  uint64_t ret;
+  Set(&ret, _msg);
+  return ret;
 }
 
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::Float, float>::Set(
-    gz::msgs::Float *_msg, const float &_data)
+inline void Set(gz::msgs::Float *_msg, const float &_data)
 {
   _msg->set_data(_data);
 }
 
-template<>
-inline void Converter<gz::msgs::Float, float>::Set(
-    float *_data, const gz::msgs::Float &_msg)
+inline void Set(float *_data, const gz::msgs::Float &_msg)
 {
   *_data = _msg.data();
 }
 
 inline gz::msgs::Float Convert(const float &_data)
 {
-  return Converter<gz::msgs::Float, float>::Convert(_data);
+  gz::msgs::Float ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline float Convert(const gz::msgs::Float &_msg)
 {
-  return Converter<gz::msgs::Float, float>::Convert(_msg);
+  float ret;
+  Set(&ret, _msg);
+  return ret;
 }
 
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::Double, double>::Set(
-    gz::msgs::Double *_msg, const double &_data)
+inline void Set(gz::msgs::Double *_msg, const double &_data)
 {
   _msg->set_data(_data);
 }
 
-template<>
-inline void Converter<gz::msgs::Double, double>::Set(
-    double *_data, const gz::msgs::Double &_msg)
+inline void Set(double *_data, const gz::msgs::Double &_msg)
 {
   *_data = _msg.data();
 }
 
 inline gz::msgs::Double Convert(const double &_data)
 {
-  return Converter<gz::msgs::Double, double>::Convert(_data);
+  gz::msgs::Double ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline double Convert(const gz::msgs::Double &_msg)
 {
-  return Converter<gz::msgs::Double, double>::Convert(_msg);
+  double ret;
+  Set(&ret, _msg);
+  return ret;
 }
 }  // namespce
 }  // namespace gz::msgs
diff --git a/core/include/gz/msgs/convert/Vector2.hh b/core/include/gz/msgs/convert/Vector2.hh
index 937742bd..6a467b2b 100644
--- a/core/include/gz/msgs/convert/Vector2.hh
+++ b/core/include/gz/msgs/convert/Vector2.hh
@@ -17,8 +17,6 @@
 #ifndef GZ_MSGS_CONVERT_VECTOR2_HH_
 #define GZ_MSGS_CONVERT_VECTOR2_HH_
 
-#include <gz/msgs/Converter.hh>
-
 // Message Headers
 #include "gz/msgs/vector2d.pb.h"
 
@@ -30,29 +28,29 @@ namespace gz::msgs {
 inline namespace GZ_MSGS_VERSION_NAMESPACE {
 
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::Vector2d, gz::math::Vector2d>::Set(
-    gz::msgs::Vector2d *_msg, const gz::math::Vector2d &_data)
+inline void Set(gz::msgs::Vector2d *_msg, const gz::math::Vector2d &_data)
 {
   _msg->set_x(_data.X());
   _msg->set_y(_data.Y());
 }
 
-template<>
-inline void Converter<gz::msgs::Vector2d, gz::math::Vector2d>::Set(
-    gz::math::Vector2d *_data, const gz::msgs::Vector2d &_msg)
+inline void Set(gz::math::Vector2d *_data, const gz::msgs::Vector2d &_msg)
 {
   _data->Set(_msg.x(), _msg.y());
 }
 
 inline gz::msgs::Vector2d Convert(const gz::math::Vector2d &_data)
 {
-  return Converter<gz::msgs::Vector2d, gz::math::Vector2d>::Convert(_data);
+  gz::msgs::Vector2d ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline gz::math::Vector2d Convert(const gz::msgs::Vector2d &_msg)
 {
-  return Converter<gz::msgs::Vector2d, gz::math::Vector2d>::Convert(_msg);
+  gz::math::Vector2d ret;
+  Set(&ret, _msg);
+  return ret;
 }
 }  // namespce
 }  // namespace gz::msgs
diff --git a/core/include/gz/msgs/convert/Vector3.hh b/core/include/gz/msgs/convert/Vector3.hh
index ef17208f..3a2a096f 100644
--- a/core/include/gz/msgs/convert/Vector3.hh
+++ b/core/include/gz/msgs/convert/Vector3.hh
@@ -17,8 +17,6 @@
 #ifndef GZ_MSGS_CONVERT_VECTOR3_HH_
 #define GZ_MSGS_CONVERT_VECTOR3_HH_
 
-#include <gz/msgs/Converter.hh>
-
 // Message Headers
 #include "gz/msgs/vector3d.pb.h"
 
@@ -30,30 +28,30 @@ namespace gz::msgs {
 inline namespace GZ_MSGS_VERSION_NAMESPACE {
 
 /////////////////////////////////
-template<>
-inline void Converter<gz::msgs::Vector3d, gz::math::Vector3d>::Set(
-    gz::msgs::Vector3d *_msg, const gz::math::Vector3d &_data)
+inline void Set(gz::msgs::Vector3d *_msg, const gz::math::Vector3d &_data)
 {
   _msg->set_x(_data.X());
   _msg->set_y(_data.Y());
   _msg->set_z(_data.Z());
 }
 
-template<>
-inline void Converter<gz::msgs::Vector3d, gz::math::Vector3d>::Set(
-    gz::math::Vector3d *_data, const gz::msgs::Vector3d &_msg)
+inline void Set(gz::math::Vector3d *_data, const gz::msgs::Vector3d &_msg)
 {
   _data->Set(_msg.x(), _msg.y(), _msg.z());
 }
 
 inline gz::msgs::Vector3d Convert(const gz::math::Vector3d &_data)
 {
-  return Converter<gz::msgs::Vector3d, gz::math::Vector3d>::Convert(_data);
+  gz::msgs::Vector3d ret;
+  Set(&ret, _data);
+  return ret;
 }
 
 inline gz::math::Vector3d Convert(const gz::msgs::Vector3d &_msg)
 {
-  return Converter<gz::msgs::Vector3d, gz::math::Vector3d>::Convert(_msg);
+  gz::math::Vector3d ret;
+  Set(&ret, _msg);
+  return ret;
 }
 }  // namespace
 }  // namespace gz::msgs