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_WGS84_TRANSFORMER_H_ 00031 #define TRANSFORM_UTIL_WGS84_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/local_xy_util.h> 00043 #include <swri_transform_util/transformer.h> 00044 00045 namespace swri_transform_util 00046 { 00047 /*** 00048 * Specialization of Transformer to perform transforms to/from WGS84 00049 */ 00050 class Wgs84Transformer : public Transformer 00051 { 00052 public: 00053 Wgs84Transformer(); 00054 00061 virtual std::map<std::string, std::vector<std::string> > Supports() const; 00062 00078 virtual bool GetTransform( 00079 const std::string& target_frame, 00080 const std::string& source_frame, 00081 const ros::Time& time, 00082 Transform& transform); 00083 00084 protected: 00085 virtual bool Initialize(); 00086 00087 boost::shared_ptr<LocalXyWgs84Util> local_xy_util_; 00088 std::string local_xy_frame_; 00089 }; 00090 00097 class TfToWgs84Transform : public TransformImpl 00098 { 00099 public: 00109 TfToWgs84Transform( 00110 const tf::StampedTransform& transform, 00111 boost::shared_ptr<LocalXyWgs84Util> local_xy_util); 00112 00124 virtual void Transform(const tf::Vector3& v_in, tf::Vector3& v_out) const; 00125 00136 virtual tf::Quaternion GetOrientation() const; 00137 virtual TransformImplPtr Inverse() const; 00138 00139 protected: 00140 tf::StampedTransform transform_; 00141 boost::shared_ptr<LocalXyWgs84Util> local_xy_util_; 00142 }; 00143 00150 class Wgs84ToTfTransform : public TransformImpl 00151 { 00152 public: 00162 Wgs84ToTfTransform( 00163 const tf::StampedTransform& transform, 00164 boost::shared_ptr<LocalXyWgs84Util> local_xy_util); 00165 00177 virtual void Transform(const tf::Vector3& v_in, tf::Vector3& v_out) const; 00178 00189 virtual tf::Quaternion GetOrientation() const; 00190 virtual TransformImplPtr Inverse() const; 00191 protected: 00192 tf::StampedTransform transform_; 00193 boost::shared_ptr<LocalXyWgs84Util> local_xy_util_; 00194 }; 00195 } 00196 00197 #endif // TRANSFORM_UTIL_WGS84_TRANSFORMER_H_