frames.h

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/* -*- mode: C++ -*-
 *
 *  Copyright (C) 2009 Austin Robot Technology
 *  License: Modified BSD Software License Agreement
 * 
 *  $Id: frames.h 1774 2011-09-10 19:23:37Z austinrobot $
 */

#ifndef _FRAMES_H_
#define _FRAMES_H_

#include <string>
#include <ros/ros.h>
#include <tf/tf.h>

namespace ArtFrames
{
  const std::string earth =     "earth";

  const std::string odom =      "odom";

  const std::string vehicle =   "vehicle";

  const std::string velodyne =  "velodyne";
  const std::string front_sick = "front_sick";
  const std::string rear_sick = "rear_sick";

  const std::string center_front_camera = "center_front_camera";
  const std::string center_front_camera_optical = "center_front_camera_optical";
  const std::string left_front_camera = "left_front_camera";
  const std::string left_front_camera_optical = "left_front_camera_optical";
  const std::string right_front_camera = "right_front_camera";
  const std::string right_front_camera_optical = "right_front_camera_optical";

  class VehicleRelative
  {
  public:
    VehicleRelative() {};

    void getPrefixParam(void)
    {
      ros::NodeHandle private_nh("~");
      std::string prefix_param;
      if (private_nh.searchParam("tf_prefix", prefix_param))
        {
          private_nh.getParam(prefix_param, prefix_);
          ROS_INFO_STREAM("vehicle-relative transform prefix: " << prefix_);
        }
    }

    inline std::string getFrame(std::string relframe)
    {
      return tf::resolve(prefix_, relframe);
    }

  private:
    std::string prefix_;                
  };
};

#endif // _FRAMES_H_