tf_bridge.h
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00001 /*
00002  * Copyright 2016 The Cartographer Authors
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_TF_BRIDGE_H
00018 #define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_TF_BRIDGE_H
00019 
00020 #include <memory>
00021 
00022 #include "cartographer/transform/rigid_transform.h"
00023 #include "cartographer_ros/time_conversion.h"
00024 #include "tf2_ros/buffer.h"
00025 
00026 namespace cartographer_ros {
00027 
00028 class TfBridge {
00029  public:
00030   TfBridge(const std::string& tracking_frame,
00031            double lookup_transform_timeout_sec, const tf2_ros::Buffer* buffer);
00032   ~TfBridge() {}
00033 
00034   TfBridge(const TfBridge&) = delete;
00035   TfBridge& operator=(const TfBridge&) = delete;
00036 
00037   // Returns the transform for 'frame_id' to 'tracking_frame_' if it exists at
00038   // 'time'.
00039   std::unique_ptr<::cartographer::transform::Rigid3d> LookupToTracking(
00040       ::cartographer::common::Time time, const std::string& frame_id) const;
00041 
00042  private:
00043   const std::string tracking_frame_;
00044   const double lookup_transform_timeout_sec_;
00045   const tf2_ros::Buffer* const buffer_;
00046 };
00047 
00048 }  // namespace cartographer_ros
00049 
00050 #endif  // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_TF_BRIDGE_H


cartographer_ros
Author(s): The Cartographer Authors
autogenerated on Wed Jul 10 2019 04:10:28