velocity.h

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#ifndef SEMANTICMODEL_VELOCITY_H
#define SEMANTICMODEL_VELOCITY_H

#include <mongo_ros/transform_collection.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/PointStamped.h>

namespace semanticmodel
{

// An instance of this class allows you to compute the instantaneous velocity of
// a point wrt a fixed frame at some time
class VelocityCalc
{
public:

  VelocityCalc (boost::shared_ptr<mongo_ros::TransformSource> transforms,
                const std::string& reference_frame) :
    transforms_(transforms), reference_frame_(reference_frame),
    inc_(0.1)
  {}

  //stamp / are used.  / \throws a TF exception if the transform is
  //unavailable
  geometry_msgs::Vector3 velocity (const geometry_msgs::PointStamped& p) const;

private:

  boost::shared_ptr<mongo_ros::TransformSource> transforms_;
  const std::string reference_frame_;
  const float inc_;

};
                  

} // namespace

#endif // include guard