Program Listing for File buffer_core_interface.h

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// Copyright 2019, Open Source Robotics Foundation, Inc. All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
//
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//      notice, this list of conditions and the following disclaimer.
//
//    * Redistributions in binary form must reproduce the above copyright
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#ifndef TF2__BUFFER_CORE_INTERFACE_H_
#define TF2__BUFFER_CORE_INTERFACE_H_

#include <string>
#include <vector>

#include "geometry_msgs/msg/transform_stamped.hpp"

#include "tf2/time.h"
#include "tf2/visibility_control.h"

namespace tf2
{

class BufferCoreInterface
{
public:
  TF2_PUBLIC
  virtual
  ~BufferCoreInterface() = default;

  TF2_PUBLIC
  virtual void
  clear() = 0;

  TF2_PUBLIC
  virtual geometry_msgs::msg::TransformStamped
  lookupTransform(
    const std::string & target_frame,
    const std::string & source_frame,
    const tf2::TimePoint & time) const = 0;

  TF2_PUBLIC
  virtual 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 = 0;

  TF2_PUBLIC
  virtual bool
  canTransform(
    const std::string & target_frame,
    const std::string & source_frame,
    const tf2::TimePoint & time,
    std::string * error_msg) const = 0;

  TF2_PUBLIC
  virtual 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 = 0;

  TF2_PUBLIC
  virtual std::vector<std::string>
  getAllFrameNames() const = 0;
};   // class BufferCoreInterface

}  // namespace tf2

#endif  // TF2__BUFFER_CORE_INTERFACE_H_