nodelet_with_shared_tf_buffer.hpp

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#pragma once
 
// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#include <memory>
#include <string>
 
#include <nodelet/nodelet.h>
#include <rosconsole/macros_generated.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
 
#include <cras_cpp_common/nodelet_utils/nodelet_aware_tf_buffer.h>
#include <cras_cpp_common/resettable.h>
 
namespace cras
{
 
namespace impl
{
// forward declaration
struct NodeletWithSharedTfBufferPrivate;
}
 
struct NodeletWithSharedTfBufferInterface
{
public:
  virtual void setBuffer(const ::std::shared_ptr<::tf2_ros::Buffer>& buffer) = 0;
 
  virtual ::cras::NodeletAwareTFBuffer& getBuffer() const = 0;
 
  virtual bool usesSharedBuffer() const = 0;
 
  virtual void reset() = 0;
};
 
template <typename NodeletType = ::nodelet::Nodelet>
struct NodeletWithSharedTfBuffer : public virtual NodeletType, public ::cras::NodeletWithSharedTfBufferInterface,
  protected ::cras::TimeJumpResettable
{
public:
  NodeletWithSharedTfBuffer();
  ~NodeletWithSharedTfBuffer() override;
 
  void setBuffer(const ::std::shared_ptr<::tf2_ros::Buffer>& buffer) override;
  ::cras::NodeletAwareTFBuffer& getBuffer() const override;
  ::std::shared_ptr<::cras::NodeletAwareTFBuffer> getBufferPtr() const;
  bool usesSharedBuffer() const override;
 
  virtual void onInit();
 
  void reset() override;
 
protected:
  using NodeletType::getName;
 
private:
  ::std::unique_ptr<::cras::impl::NodeletWithSharedTfBufferPrivate> data;
};
 
}
 
#include "impl/nodelet_with_shared_tf_buffer.hpp"