frame_manager.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions are met:
 *
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef RVIZ_FRAME_MANAGER_H
#define RVIZ_FRAME_MANAGER_H

#include <map>

#include <ros/time.h>

#include <OGRE/OgreVector3.h>
#include <OGRE/OgreQuaternion.h>

#include <boost/thread/mutex.hpp>

#include <geometry_msgs/Pose.h>

#include <tf/message_filter.h>

/*  Macro to issue warning when using deprecated functions with gcc4 or MSVC7: */
#if defined(__GNUC__) && ( __GNUC__ >= 4 )
    #define DEPRECATED(x) __attribute__((deprecated)) x
#elif defined(__VISUALC__) && (__VISUALC__ >= 1300)
    #define DEPRECATED(x) __declspec(deprecated) x
#else
    #define DEPRECATED(x) x
#endif

namespace tf
{
class TransformListener;
}

namespace rviz
{
class Display;

class FrameManager;
typedef boost::shared_ptr<FrameManager> FrameManagerPtr;
typedef boost::weak_ptr<FrameManager> FrameManagerWPtr;

// helper class for transforming data into Ogre's world frame (the fixed frame)
// during one frame update, the tf tree stays consistent and queries are cached for speedup
class FrameManager
{
public:
  static FrameManagerPtr instance();

  FrameManager();
  ~FrameManager();

  void setFixedFrame(const std::string& frame);

  // @deprecated "relative" flag is no longer needed.
  template<typename Header>
  __attribute__((deprecated))
  bool getTransform(const Header& header, Ogre::Vector3& position, Ogre::Quaternion& orientation, bool relative)
  {
    return getTransform(header, position, orientation);
  }

  // @return Ogre transform for the given header, relative to the fixed frame
  template<typename Header>
  bool getTransform(const Header& header, Ogre::Vector3& position, Ogre::Quaternion& orientation)
  {
    return getTransform(header.frame_id, header.stamp, position, orientation);
  }

  // @return Ogre transform for the given header (frame + timestamp) relative to the fixed frame
  bool getTransform(const std::string& frame, ros::Time time, Ogre::Vector3& position, Ogre::Quaternion& orientation);

  // transform a pose into the fixed frame
  // @param header, pose: input pose (e.g. from a PoseStamped)
  // @param position, orientation: output pose relative to fixed frame
  // @return success
  template<typename Header>
  bool transform(const Header& header, const geometry_msgs::Pose& pose, Ogre::Vector3& position, Ogre::Quaternion& orientation)
  {
    return transform(header.frame_id, header.stamp, pose, position, orientation);
  }

  // @deprecated "relative" flag is no longer needed.
  __attribute__((deprecated))
  bool transform(const std::string& frame, ros::Time time, const geometry_msgs::Pose& pose, Ogre::Vector3& position, Ogre::Quaternion& orientation, bool relative)
  {
    return transform(frame, time, pose, position, orientation);
  }

  // transform a pose into the fixed frame
  // @param frame, time, pose: input pose
  // @param position, orientation: output pose relative to fixed frame
  // @return success
  bool transform(const std::string& frame, ros::Time time, const geometry_msgs::Pose& pose, Ogre::Vector3& position, Ogre::Quaternion& orientation);

  // will clear the internal cache
  void update();

  // find out what went wrong during a transformation
  bool frameHasProblems(const std::string& frame, ros::Time time, std::string& error);
  bool transformHasProblems(const std::string& frame, ros::Time time, std::string& error);

  template<class M>
  void registerFilterForTransformStatusCheck(tf::MessageFilter<M>* filter, Display* display)
  {
    filter->registerCallback(boost::bind(&FrameManager::messageCallback<M>, this, _1, display));
    filter->registerFailureCallback(boost::bind(&FrameManager::failureCallback<M>, this, _1, _2, display));
  }

  const std::string& getFixedFrame() { return fixed_frame_; }
  tf::TransformListener* getTFClient() { return tf_; }

  std::string discoverFailureReason(const std::string& frame_id, const ros::Time& stamp, const std::string& caller_id, tf::FilterFailureReason reason);

private:
  template<class M>
  void messageCallback(const boost::shared_ptr<M const>& msg, Display* display)
  {
    messageArrived(msg->header.frame_id, msg->header.stamp, msg->__connection_header ? (*msg->__connection_header)["callerid"] : "unknown", display);
  }

  template<class M>
  void failureCallback(const boost::shared_ptr<M const>& msg, tf::FilterFailureReason reason, Display* display)
  {
    messageFailed(msg->header.frame_id, msg->header.stamp, msg->__connection_header ? (*msg->__connection_header)["callerid"] : "unknown", reason, display);
  }

  void messageArrived(const std::string& frame_id, const ros::Time& stamp, const std::string& caller_id, Display* display);
  void messageFailed(const std::string& frame_id, const ros::Time& stamp, const std::string& caller_id, tf::FilterFailureReason reason, Display* display);

  struct CacheKey
  {
    CacheKey(const std::string& f, ros::Time t)
    : frame(f)
    , time(t)
    {}

    bool operator<(const CacheKey& rhs) const
    {
      if (frame != rhs.frame)
      {
        return frame < rhs.frame;
      }

      return time < rhs.time;
    }

    std::string frame;
    ros::Time time;
  };

  struct CacheEntry
  {
    CacheEntry(const Ogre::Vector3& p, const Ogre::Quaternion& o)
    : position(p)
    , orientation(o)
    {}

    Ogre::Vector3 position;
    Ogre::Quaternion orientation;
  };
  typedef std::map<CacheKey, CacheEntry > M_Cache;

  boost::mutex cache_mutex_;
  M_Cache cache_;

  tf::TransformListener* tf_;
  std::string fixed_frame_;
};

}

#endif // RVIZ_FRAME_MANAGER_H