buffer_server.h

Go to the documentation of this file.

/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2009, Willow Garage, Inc.
*  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 Willow Garage, Inc. 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.
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef TF2_ROS_BUFFER_SERVER_H_
#define TF2_ROS_BUFFER_SERVER_H_

#include <actionlib/server/action_server.h>
#include <tf2_msgs/LookupTransformAction.h>
#include <geometry_msgs/TransformStamped.h>
#include <tf2_ros/buffer.h>

namespace tf2_ros
{
  class BufferServer
  {
    private:
      typedef actionlib::ActionServer<tf2_msgs::LookupTransformAction> LookupTransformServer;
      typedef LookupTransformServer::GoalHandle GoalHandle;

      struct GoalInfo
      {
        GoalHandle handle;
        ros::Time end_time;
      };

    public:
      BufferServer(const Buffer& buffer, const std::string& ns,
          bool auto_start = true, ros::Duration check_period = ros::Duration(0.01));

      void start();

    private:
      void goalCB(GoalHandle gh);
      void cancelCB(GoalHandle gh);
      void checkTransforms(const ros::TimerEvent& e);
      bool canTransform(GoalHandle gh);
      geometry_msgs::TransformStamped lookupTransform(GoalHandle gh);

      const Buffer& buffer_;
      LookupTransformServer server_;
      std::list<GoalInfo> active_goals_;
      boost::mutex mutex_;
      ros::Timer check_timer_;
  };
}
#endif