Program Listing for File tf_wrapper.hpp
↰ Return to documentation for file (/tmp/ws/src/rviz/rviz_default_plugins/include/rviz_default_plugins/transformation/tf_wrapper.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_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_