Program Listing for File message_context.hpp
↰ Return to documentation for file (include/interactive_markers/message_context.hpp
)
// Copyright (c) 2012, Willow Garage, Inc.
// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the copyright holder nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
// Author: David Gossow
#ifndef INTERACTIVE_MARKERS__MESSAGE_CONTEXT_HPP_
#define INTERACTIVE_MARKERS__MESSAGE_CONTEXT_HPP_
#include <list>
#include <memory>
#include <string>
#include <vector>
#include "tf2/buffer_core_interface.h"
#include "geometry_msgs/msg/pose.hpp"
#include "std_msgs/msg/header.hpp"
#include "visualization_msgs/msg/interactive_marker.hpp"
#include "visualization_msgs/msg/interactive_marker_pose.hpp"
namespace interactive_markers
{
template<class MsgT>
class MessageContext
{
public:
MessageContext(
std::shared_ptr<tf2::BufferCoreInterface> tf_buffer_core,
const std::string & target_frame,
typename MsgT::ConstSharedPtr msg,
bool enable_autocomplete_transparency = true);
MessageContext(const MessageContext &) = default;
MessageContext<MsgT> & operator=(const MessageContext<MsgT> & other);
// transform all messages with timestamp into target frame
void getTfTransforms();
typename MsgT::SharedPtr msg;
// return true if tf info is complete
bool isReady();
private:
void init();
bool getTransform(std_msgs::msg::Header & header, geometry_msgs::msg::Pose & pose_msg);
void getTfTransforms(
std::vector<visualization_msgs::msg::InteractiveMarker> & msg_vec,
std::list<size_t> & indices);
void getTfTransforms(
std::vector<visualization_msgs::msg::InteractiveMarkerPose> & msg_vec,
std::list<size_t> & indices);
// array indices of marker/pose updates with missing tf info
std::list<size_t> open_marker_idx_;
std::list<size_t> open_pose_idx_;
std::shared_ptr<tf2::BufferCoreInterface> tf_buffer_core_;
std::string target_frame_;
bool enable_autocomplete_transparency_;
}; // class MessageContext
} // namespace interactive_markers
#endif // INTERACTIVE_MARKERS__MESSAGE_CONTEXT_HPP_