transform_collection.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef MONGO_ROS_TF_COLLECTION_H
#define MONGO_ROS_TF_COLLECTION_H

#include <mongo_ros/message_collection.h>
#include <tf/transform_listener.h>
#include <tf/tfMessage.h>

namespace mongo_ros
{

class TransformSource
{
public:

  virtual tf::StampedTransform lookupTransform (const std::string& target_frame,
                                                const std::string& source_frame,
                                                double t) const = 0;
};

class TransformCollection : public TransformSource
{
public:
  TransformCollection (const std::string& db,
                       const std::string& coll="tf",
                       const std::string& host="localhost",
                       const unsigned port=27017,
                       const double history_length=10.0) :
    TransformSource(),
    coll_(db, coll, host, port), history_length_(history_length)
  {}

  virtual
  tf::StampedTransform lookupTransform (const std::string& target_frame,
                                        const std::string& source_frame,
                                        double t) const;
    

private:
  
  mongo::Query transformQuery (double t) const;

  MessageCollection<tf::tfMessage> coll_;
  double history_length_;

};


class LiveTransformSource : public TransformSource
{
public:
  
  LiveTransformSource (double timeout = 0) :
    TransformSource(), tf_(new tf::TransformListener()), timeout_(timeout)
  {}
  
  virtual
  tf::StampedTransform lookupTransform (const std::string& target,
                                        const std::string& source,
                                        double t) const;
  
private:

  ros::NodeHandle nh_;
  boost::shared_ptr<tf::TransformListener> tf_;
  ros::Duration timeout_;
};

} // namespace

#endif // include guard