transform_collection.h
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
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 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.
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 THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 
00039 #ifndef WAREHOUSE_ROS_TF_COLLECTION_H
00040 #define WAREHOUSE_ROS_TF_COLLECTION_H
00041 
00042 #include <warehouse_ros/message_collection.h>
00043 #include <tf/transform_listener.h>
00044 #include <tf/tfMessage.h>
00045 
00046 namespace warehouse_ros
00047 {
00048 
00051 class TransformSource
00052 {
00053 public:
00056   virtual tf::StampedTransform lookupTransform(const std::string& target_frame, const std::string& source_frame,
00057                                                double t) const = 0;
00058 };
00059 
00067 class TransformCollection : public TransformSource
00068 {
00069 public:
00070   TransformCollection(MessageCollection<tf::tfMessage> &coll, const double search_back = 10.0,
00071                       const double search_forward = 1.0) :
00072       TransformSource(), coll_(coll), search_back_(search_back), search_forward_(search_forward)
00073   {
00074   }
00075 
00078   virtual tf::StampedTransform lookupTransform(const std::string& target_frame, const std::string& source_frame,
00079                                                double t) const;
00080 
00082   void putTransform(tf::StampedTransform);
00083 
00084 private:
00085   MessageCollection<tf::tfMessage> coll_;
00086   double search_back_;
00087   double search_forward_;
00088 };
00089 
00092 class LiveTransformSource : public TransformSource
00093 {
00094 public:
00098   LiveTransformSource(double timeout = 0) :
00099       TransformSource(), tf_(new tf::TransformListener()), timeout_(timeout)
00100   {
00101   }
00102 
00105   virtual tf::StampedTransform lookupTransform(const std::string& target, const std::string& source, double t) const
00106   {
00107     ros::Time tm(t);
00108     tf_->waitForTransform(target, source, tm, ros::Duration(timeout_));
00109     tf::StampedTransform trans;
00110     tf_->lookupTransform(target, source, tm, trans); // Can throw
00111     return trans;
00112   }
00113 
00114 private:
00115   ros::NodeHandle nh_;
00116   boost::shared_ptr<tf::TransformListener> tf_;
00117   ros::Duration timeout_;
00118 };
00119 
00120 } // namespace
00121 
00122 #endif // include guard


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