.. _program_listing_file__tmp_ws_src_rviz_rviz_default_plugins_include_rviz_default_plugins_transformation_tf_wrapper.hpp:

Program Listing for File tf_wrapper.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rviz_rviz_default_plugins_include_rviz_default_plugins_transformation_tf_wrapper.hpp>` (``/tmp/ws/src/rviz/rviz_default_plugins/include/rviz_default_plugins/transformation/tf_wrapper.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2018, Bosch Software Innovations GmbH.
    * 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 copyright holder 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.
    */
   
   #ifndef RVIZ_DEFAULT_PLUGINS__TRANSFORMATION__TF_WRAPPER_HPP_
   #define RVIZ_DEFAULT_PLUGINS__TRANSFORMATION__TF_WRAPPER_HPP_
   
   #include <memory>
   #include <string>
   #include <vector>
   
   #include "tf2_ros/buffer.h"
   #include "tf2_ros/create_timer_ros.h"
   #include "tf2_ros/transform_listener.h"
   #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
   
   #include "rviz_common/transformation/frame_transformer.hpp"
   #include "rviz_default_plugins/visibility_control.hpp"
   
   namespace rviz_default_plugins
   {
   namespace transformation
   {
   class TFWrapper
     : public rviz_common::transformation::TransformationLibraryConnector
   {
   public:
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     TFWrapper();
   
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     ~TFWrapper() override = default;
   
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     void transform(
       const geometry_msgs::msg::PoseStamped & pose_in,
       geometry_msgs::msg::PoseStamped & pose_out,
       const std::string & frame);
   
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     geometry_msgs::msg::TransformStamped
     lookupTransform(
       const std::string & target_frame,
       const std::string & source_frame,
       const tf2::TimePoint & time);
   
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     geometry_msgs::msg::TransformStamped
     lookupTransform(
       const std::string & target_frame,
       const tf2::TimePoint & target_time,
       const std::string & source_frame,
       const tf2::TimePoint & source_time,
       const std::string & fixed_frame);
   
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     bool
     canTransform(
       const std::string & target_frame,
       const std::string & source_frame,
       tf2::TimePoint time,
       std::string & error);
   
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     bool
     canTransform(
       const std::string & target_frame,
       const tf2::TimePoint & target_time,
       const std::string & source_frame,
       const tf2::TimePoint & source_time,
       const std::string & fixed_frame,
       std::string & error);
   
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     tf2_ros::TransformStampedFuture
     waitForTransform(
       const std::string & target_frame,
       const std::string & source_frame,
       const tf2::TimePoint & time,
       const tf2::Duration & timeout,
       tf2_ros::TransformReadyCallback callback);
   
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     void
     cancel(
       const tf2_ros::TransformStampedFuture & ts_future);
   
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     std::vector<std::string>
     getFrameStrings();
   
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     std::shared_ptr<tf2_ros::Buffer>
     getBuffer();
   
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     bool
     frameExists(const std::string & frame);
   
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     void
     initialize(
       rclcpp::Clock::SharedPtr clock,
       rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node,
       bool using_dedicated_thread);
   
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     void
     clear();
   
     RVIZ_DEFAULT_PLUGINS_PUBLIC
     void
     initializeBuffer(
       rclcpp::Clock::SharedPtr clock,
       rclcpp::Node::SharedPtr node,
       bool using_dedicated_thread);
   
   private:
     std::shared_ptr<tf2_ros::Buffer> buffer_;
     std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
   };
   
   }  // namespace transformation
   }  // namespace rviz_default_plugins
   
   #endif  // RVIZ_DEFAULT_PLUGINS__TRANSFORMATION__TF_WRAPPER_HPP_