localization_buffer.h

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/*
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#ifndef GRAPH_SLAM_LOCALIZATION_BUFFER_H
#define GRAPH_SLAM_LOCALIZATION_BUFFER_H

#include <graph_mapping_msgs/LocalizationDistribution.h>
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <boost/circular_buffer.hpp>
#include <boost/thread.hpp>
#include <boost/optional.hpp>

namespace graph_slam
{

typedef boost::shared_ptr<tf::TransformListener> TfPtr;

class LocalizationBuffer
{
public:
  LocalizationBuffer (const unsigned buffer_size, const std::string& fixed_frame,
                      const std::string& base_frame, TfPtr tf, const double max_extrapolation);

  geometry_msgs::PoseStamped localizationAt (const ros::Time& t) const;

  geometry_msgs::PoseStamped localizationAt (const ros::Time& t,
                                                        const ros::Duration& d) const;

  bool hasLocalization (const ros::Time& t) const;

  boost::optional<geometry_msgs::PoseStamped> lastLocalization () const;

private:

  void localizationCallback (graph_mapping_msgs::LocalizationDistribution::ConstPtr m);

  const std::string fixed_frame_;
  const std::string base_frame_;
  const double max_extrapolation_;

  mutable boost::mutex mutex_;
  TfPtr tf_;
  boost::circular_buffer<graph_mapping_msgs::LocalizationDistribution::ConstPtr> buffer_;
  ros::NodeHandle nh_;
  ros::Subscriber loc_sub_;
  
};

} // namespace

#endif // include guard

---

graph_slam
Author(s): Bhaskara Marthi
autogenerated on Fri Jan 11 09:40:48 2013