buffer_server.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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00034 *
00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef TF2_ROS_BUFFER_SERVER_H_
00038 #define TF2_ROS_BUFFER_SERVER_H_
00039 
00040 #include <actionlib/server/action_server.h>
00041 #include <tf2_msgs/LookupTransformAction.h>
00042 #include <geometry_msgs/TransformStamped.h>
00043 #include <tf2_ros/buffer.h>
00044 
00045 namespace tf2_ros
00046 {
00047   class BufferServer
00048   {
00049     private:
00050       typedef actionlib::ActionServer<tf2_msgs::LookupTransformAction> LookupTransformServer;
00051       typedef LookupTransformServer::GoalHandle GoalHandle;
00052 
00053       struct GoalInfo
00054       {
00055         GoalHandle handle;
00056         ros::Time end_time;
00057       };
00058 
00059     public:
00060       BufferServer(const Buffer& buffer, const std::string& ns,
00061           bool auto_start = true, ros::Duration check_period = ros::Duration(0.01));
00062 
00063       void start();
00064 
00065     private:
00066       void goalCB(GoalHandle gh);
00067       void cancelCB(GoalHandle gh);
00068       void checkTransforms(const ros::TimerEvent& e);
00069       bool canTransform(GoalHandle gh);
00070       geometry_msgs::TransformStamped lookupTransform(GoalHandle gh);
00071 
00072       const Buffer& buffer_;
00073       LookupTransformServer server_;
00074       std::list<GoalInfo> active_goals_;
00075       boost::mutex mutex_;
00076       ros::Timer check_timer_;
00077   };
00078 }
00079 #endif


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Thu Aug 27 2015 13:10:05