transforms.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_TRANSFORMS_
#define MOVEIT_TRANSFORMS_

#include <geometry_msgs/TransformStamped.h>
#include <geometry_msgs/Pose.h>
#include <Eigen/Geometry>
#include <boost/shared_ptr.hpp>
#include <boost/noncopyable.hpp>
#include <moveit/macros/class_forward.h>

namespace robot_state
{

MOVEIT_CLASS_FORWARD(Transforms);

typedef std::map<std::string, Eigen::Affine3d, std::less<std::string>,
                 Eigen::aligned_allocator<std::pair<const std::string, Eigen::Affine3d> > > FixedTransformsMap;

class Transforms : private boost::noncopyable
{
public:
  Transforms(const std::string &target_frame);

  virtual ~Transforms();

  static bool sameFrame(const std::string &frame1, const std::string &frame2);

  const std::string& getTargetFrame() const;

  const FixedTransformsMap& getAllTransforms() const;

  void copyTransforms(std::vector<geometry_msgs::TransformStamped> &transforms) const;

  void setTransform(const Eigen::Affine3d &t, const std::string &from_frame);

  void setTransform(const geometry_msgs::TransformStamped &transform);

  void setTransforms(const std::vector<geometry_msgs::TransformStamped> &transforms);

  void setAllTransforms(const FixedTransformsMap &transforms);

  void transformVector3(const std::string &from_frame, const Eigen::Vector3d &v_in, Eigen::Vector3d &v_out) const
  {
    v_out = getTransform(from_frame).rotation() * v_in;
  }

  void transformQuaternion(const std::string &from_frame, const Eigen::Quaterniond &q_in, Eigen::Quaterniond &q_out) const
  {
    q_out = getTransform(from_frame).rotation() * q_in;
  }

  void transformRotationMatrix(const std::string &from_frame, const Eigen::Matrix3d &m_in, Eigen::Matrix3d &m_out) const
  {
    m_out = getTransform(from_frame).rotation() * m_in;
  }

  void transformPose(const std::string &from_frame, const Eigen::Affine3d &t_in, Eigen::Affine3d &t_out) const
  {
    t_out = getTransform(from_frame) * t_in;
  }
  virtual bool canTransform(const std::string &from_frame) const;

  virtual bool isFixedFrame(const std::string &frame) const;

  virtual const Eigen::Affine3d& getTransform(const std::string &from_frame) const;

protected:

  std::string        target_frame_;
  FixedTransformsMap transforms_;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}

#endif