00001 /* 00002 * Copyright (c) 2012, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 * Author: David Gossow 00030 *//* 00031 * message_context.h 00032 * 00033 * Created on: Jul 17, 2012 00034 * Author: gossow 00035 */ 00036 00037 #ifndef MESSAGE_CONTEXT_H_ 00038 #define MESSAGE_CONTEXT_H_ 00039 00040 #include <tf/tf.h> 00041 00042 #include <visualization_msgs/InteractiveMarkerInit.h> 00043 #include <visualization_msgs/InteractiveMarkerUpdate.h> 00044 00045 namespace interactive_markers 00046 { 00047 00048 template<class MsgT> 00049 class MessageContext 00050 { 00051 public: 00052 MessageContext( tf::Transformer& tf, 00053 const std::string& target_frame, 00054 const typename MsgT::ConstPtr& msg, 00055 bool enable_autocomplete_transparency = true); 00056 00057 MessageContext<MsgT>& operator=( const MessageContext<MsgT>& other ); 00058 00059 // transform all messages with timestamp into target frame 00060 void getTfTransforms(); 00061 00062 typename MsgT::Ptr msg; 00063 00064 // return true if tf info is complete 00065 bool isReady(); 00066 00067 private: 00068 00069 void init(); 00070 00071 bool getTransform( std_msgs::Header& header, geometry_msgs::Pose& pose_msg ); 00072 00073 void getTfTransforms( std::vector<visualization_msgs::InteractiveMarker>& msg_vec, std::list<size_t>& indices ); 00074 void getTfTransforms( std::vector<visualization_msgs::InteractiveMarkerPose>& msg_vec, std::list<size_t>& indices ); 00075 00076 // array indices of marker/pose updates with missing tf info 00077 std::list<size_t> open_marker_idx_; 00078 std::list<size_t> open_pose_idx_; 00079 tf::Transformer& tf_; 00080 std::string target_frame_; 00081 bool enable_autocomplete_transparency_; 00082 }; 00083 00084 class InitFailException: public tf::TransformException 00085 { 00086 public: 00087 InitFailException(const std::string errorDescription) : tf::TransformException(errorDescription) { ; } 00088 }; 00089 00090 00091 } 00092 00093 #endif /* MESSAGE_CONTEXT_H_ */