transform_collection.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
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00005  * Redistribution and use in source and binary forms, with or without
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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 the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
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00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00030 
00039 #include <warehouse_ros/transform_collection.h>
00040 #include <boost/foreach.hpp>
00041 
00042 namespace warehouse_ros
00043 {
00044 
00045 tf::StampedTransform TransformCollection::lookupTransform(const std::string& target, const std::string& src,
00046                                                           const double t) const
00047 {
00048   // Query all transforms between t-search_back_ and t+search_forward_
00049   Query::Ptr q = coll_.createQuery();
00050   q->appendRangeInclusive("stamp", t - search_back_, t + search_forward_);
00051 
00052   // Iterate over the messages and add them to a Transformer
00053   tf::Transformer buffer(true, ros::Duration(search_back_ + search_forward_ * 1.1));
00054   typename QueryResults<tf::tfMessage>::range_t res = coll_.query(q);
00055   for (ResultIterator<tf::tfMessage> it = res.first; it != res.second; ++it)
00056   {
00057     BOOST_FOREACH (const geometry_msgs::TransformStamped& trans, (*it)->transforms)
00058     {
00059       const geometry_msgs::Vector3& v = trans.transform.translation;
00060       const geometry_msgs::Quaternion& q = trans.transform.rotation;
00061       const std_msgs::Header& h = trans.header;
00062       const tf::Transform tr(tf::Quaternion(q.x, q.y, q.z, q.w), tf::Vector3(v.x, v.y, v.z));
00063       const tf::StampedTransform t(tr, h.stamp, h.frame_id, trans.child_frame_id);
00064       const bool ok = buffer.setTransform(t);
00065       ROS_ASSERT_MSG(ok, "Tf setTransform returned false for transform from %s "
00066                      "to %s at %.4f",
00067                      trans.child_frame_id.c_str(), h.frame_id.c_str(), h.stamp.toSec());
00068     }
00069   }
00070   tf::StampedTransform result;
00071   buffer.lookupTransform(target, src, ros::Time(t), result); // Can throw
00072   return result;
00073 }
00074 
00075 void TransformCollection::putTransform(tf::StampedTransform)
00076 {
00077 
00078 }
00079 
00080 } // namespace


warehouse_ros
Author(s): Bhaskara Marthi , Connor Brew
autogenerated on Thu Jun 23 2016 05:36:41