Program Listing for File tf_frame_transformer.hpp
↰ Return to documentation for file (/tmp/ws/src/rviz/rviz_default_plugins/include/rviz_default_plugins/transformation/tf_frame_transformer.hpp
)
/*
* 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_FRAME_TRANSFORMER_HPP_
#define RVIZ_DEFAULT_PLUGINS__TRANSFORMATION__TF_FRAME_TRANSFORMER_HPP_
#include <memory>
#include <string>
#include <vector>
#include <OgreVector3.h>
#include <OgreQuaternion.h>
#include "rviz_common/transformation/frame_transformer.hpp"
#include "rviz_common/ros_integration/ros_node_abstraction.hpp"
#include "rviz_default_plugins/transformation/tf_wrapper.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace rviz_default_plugins
{
namespace transformation
{
class TFFrameTransformer : public rviz_common::transformation::FrameTransformer
{
public:
RVIZ_DEFAULT_PLUGINS_PUBLIC
TFFrameTransformer();
RVIZ_DEFAULT_PLUGINS_PUBLIC
explicit TFFrameTransformer(std::shared_ptr<TFWrapper> wrapper);
~TFFrameTransformer() override = default;
RVIZ_DEFAULT_PLUGINS_PUBLIC
void
initialize(
rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node,
rclcpp::Clock::SharedPtr clock) override;
RVIZ_DEFAULT_PLUGINS_PUBLIC
void
clear() override;
RVIZ_DEFAULT_PLUGINS_PUBLIC
std::vector<std::string>
getAllFrameNames() const override;
RVIZ_DEFAULT_PLUGINS_PUBLIC
geometry_msgs::msg::PoseStamped
transform(
const geometry_msgs::msg::PoseStamped & pose_in,
const std::string & target_frame) override;
RVIZ_DEFAULT_PLUGINS_PUBLIC
bool
frameHasProblems(const std::string & frame, std::string & error) const override;
RVIZ_DEFAULT_PLUGINS_PUBLIC
rviz_common::transformation::TransformationLibraryConnector::WeakPtr
getConnector() override;
geometry_msgs::msg::TransformStamped
lookupTransform(
const std::string & target_frame,
const std::string & source_frame,
const tf2::TimePoint & time) const override;
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) const override;
bool
canTransform(
const std::string & target_frame,
const std::string & source_frame,
const tf2::TimePoint & time,
std::string * error_msg) const override;
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_msg) const override;
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) override;
void
cancel(
const tf2_ros::TransformStampedFuture & ts_future) override;
private:
std::shared_ptr<TFWrapper> tf_wrapper_;
};
} // namespace transformation
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__TRANSFORMATION__TF_FRAME_TRANSFORMER_HPP_