Program Listing for File cp_pose.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/*****************************************************************************************************************
*-2020
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
#pragma once
#include <mutex>
#include <geometry_msgs/msg/pose_stamped.h>
#include <tf2/transform_datatypes.h>
#include <tf2/utils.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <geometry_msgs/msg/quaternion_stamped.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <smacc2/component.hpp>
#include <smacc2/smacc_updatable.hpp>
namespace cl_nav2z
{
enum class StandardReferenceFrames
{
Map,
Odometry
};
class Pose : public smacc2::ISmaccComponent, public smacc2::ISmaccUpdatable
{
public:
Pose(std::string poseFrameName = "base_link", std::string referenceFrame = "odom");
Pose(StandardReferenceFrames referenceFrame);
void onInitialize() override;
void update() override;
// synchronously waits a transform in the current thread
void waitTransformUpdate(rclcpp::Rate r = rclcpp::Rate(20));
inline geometry_msgs::msg::Pose toPoseMsg()
{
std::lock_guard<std::mutex> guard(m_mutex_);
return this->pose_.pose;
}
inline geometry_msgs::msg::PoseStamped toPoseStampedMsg()
{
std::lock_guard<std::mutex> guard(m_mutex_);
return this->pose_;
}
// get yaw in radians
float getYaw();
float getX();
float getY();
float getZ();
inline const std::string & getReferenceFrame() const { return referenceFrame_; }
inline const std::string & getFrameId() const { return poseFrameName_; }
bool isInitialized;
private:
geometry_msgs::msg::PoseStamped pose_;
static std::shared_ptr<tf2_ros::Buffer> tfBuffer_;
static std::shared_ptr<tf2_ros::TransformListener> tfListener_;
static std::mutex listenerMutex_;
std::string poseFrameName_;
std::string referenceFrame_;
std::mutex m_mutex_;
};
} // namespace cl_nav2z