00001 // ***************************************************************************** 00002 // 00003 // Copyright (c) 2014, Southwest Research Institute® (SwRI®) 00004 // All rights reserved. 00005 // 00006 // Redistribution and use in source and binary forms, with or without 00007 // modification, are permitted provided that the following conditions are met: 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 Southwest Research Institute® (SwRI®) nor the 00014 // names of its contributors may be used to endorse or promote products 00015 // derived from 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 <COPYRIGHT HOLDER> BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 // 00028 // ***************************************************************************** 00029 00030 #ifndef TRANSFORM_UTIL_TRANSFORMER_H_ 00031 #define TRANSFORM_UTIL_TRANSFORMER_H_ 00032 00033 #include <map> 00034 #include <string> 00035 #include <vector> 00036 00037 #include <boost/shared_ptr.hpp> 00038 00039 #include <tf/transform_datatypes.h> 00040 #include <tf/transform_listener.h> 00041 00042 #include <swri_transform_util/transform.h> 00043 #include <swri_transform_util/local_xy_util.h> 00044 00045 namespace swri_transform_util 00046 { 00053 class Transformer 00054 { 00055 public: 00056 Transformer(); 00057 virtual ~Transformer(); 00058 00067 void Initialize(const boost::shared_ptr<tf::TransformListener> tf, 00068 const boost::shared_ptr<LocalXyWgs84Util> xy_util = boost::shared_ptr<LocalXyWgs84Util>()); 00069 00076 virtual std::map<std::string, std::vector<std::string> > Supports() const = 0; 00077 00093 virtual bool GetTransform( 00094 const std::string& target_frame, 00095 const std::string& source_frame, 00096 const ros::Time& time, 00097 Transform& transform) = 0; 00098 00099 protected: 00100 bool initialized_; 00101 boost::shared_ptr<tf::TransformListener> tf_listener_; 00102 boost::shared_ptr<LocalXyWgs84Util> local_xy_util_; 00103 00104 virtual bool Initialize(); 00105 00106 virtual bool GetTransform( 00107 const std::string& target_frame, 00108 const std::string& source_frame, 00109 const ros::Time& time, 00110 tf::StampedTransform& transform) const; 00111 }; 00112 } 00113 00114 #endif // TRANSFORM_UTIL_TRANSFORMER_H_