buffer.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * 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.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "tf2_ros/buffer.h"

namespace tf2
{

Buffer::Buffer(ros::Duration cache_time, bool debug) : BufferCore(cache_time)
{
  if(debug && !ros::service::exists("~tf2_frames", false))
  {
    ros::NodeHandle n("~");
    frames_server_ = n.advertiseService("tf2_frames", &Buffer::getFrames, this);
  }
}

geometry_msgs::TransformStamped 
Buffer::lookupTransform(const std::string& target_frame, const std::string& source_frame,
                        const ros::Time& time, const ros::Duration timeout) const
{
  canTransform(target_frame, source_frame, time, timeout);
  return lookupTransform(target_frame, source_frame, time);
}


geometry_msgs::TransformStamped 
Buffer::lookupTransform(const std::string& target_frame, const ros::Time& target_time,
                        const std::string& source_frame, const ros::Time& source_time,
                        const std::string& fixed_frame, const ros::Duration timeout) const
{
  canTransform(target_frame, target_time, source_frame, source_time, fixed_frame, timeout);
  return lookupTransform(target_frame, target_time, source_frame, source_time, fixed_frame);
}


bool
Buffer::canTransform(const std::string& target_frame, const std::string& source_frame, 
                     const ros::Time& time, const ros::Duration timeout, std::string* errstr) const
{
  // poll for transform if timeout is set
  ros::Time start_time = ros::Time::now();
  while (ros::Time::now() < start_time + timeout && 
         !canTransform(target_frame, source_frame, time))
    ros::Duration(0.01).sleep();
  return canTransform(target_frame, source_frame, time, errstr);
}

    
bool
Buffer::canTransform(const std::string& target_frame, const ros::Time& target_time,
                     const std::string& source_frame, const ros::Time& source_time,
                     const std::string& fixed_frame, const ros::Duration timeout, std::string* errstr) const
{
  // poll for transform if timeout is set
  ros::Time start_time = ros::Time::now();
  while (ros::Time::now() < start_time + timeout && 
         !canTransform(target_frame, target_time, source_frame, source_time, fixed_frame))
    ros::Duration(0.01).sleep();
  return canTransform(target_frame, target_time, source_frame, source_time, fixed_frame, errstr);
}




}