buffer.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 *     * Redistributions in binary form must reproduce the above copyright
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef TF2_ROS_BUFFER_H
#define TF2_ROS_BUFFER_H

#include <tf2_ros/buffer_interface.h>
#include <tf2/buffer_core.h>
#include <tf2_msgs/FrameGraph.h>
#include <ros/ros.h>
#include <tf2/convert.h>


namespace tf2_ros
{

  // extend the BufferInterface class and BufferCore class
  class Buffer: public BufferInterface, public tf2::BufferCore
  {
  public:
    using tf2::BufferCore::lookupTransform;
    using tf2::BufferCore::canTransform;

    Buffer(ros::Duration cache_time = ros::Duration(BufferCore::DEFAULT_CACHE_TIME), bool debug = false);

    virtual geometry_msgs::TransformStamped 
      lookupTransform(const std::string& target_frame, const std::string& source_frame,
                      const ros::Time& time, const ros::Duration timeout) const;

    virtual geometry_msgs::TransformStamped 
    lookupTransform(const std::string& target_frame, const ros::Time& target_time,
                    const std::string& source_frame, const ros::Time& source_time,
                    const std::string& fixed_frame, const ros::Duration timeout) const;


    virtual bool
      canTransform(const std::string& target_frame, const std::string& source_frame, 
                   const ros::Time& target_time, const ros::Duration timeout, std::string* errstr = NULL) const;
    
    virtual bool
      canTransform(const std::string& target_frame, const ros::Time& target_time,
                   const std::string& source_frame, const ros::Time& source_time,
                   const std::string& fixed_frame, const ros::Duration timeout, std::string* errstr = NULL) const;


    
    
  private:
    bool getFrames(tf2_msgs::FrameGraph::Request& req, tf2_msgs::FrameGraph::Response& res) ;


    // conditionally error if dedicated_thread unset.
    bool checkAndErrorDedicatedThreadPresent(std::string* errstr) const;

    ros::ServiceServer frames_server_;


  }; // class 

static const std::string threading_error = "Do not call canTransform or lookupTransform with a timeout unless you are using another thread for populating data. Without a dedicated thread it will always timeout.  If you have a seperate thread servicing tf messages, call setUsingDedicatedThread(true) on your Buffer instance.";

  
} // namespace

#endif // TF2_ROS_BUFFER_H