frame_id_processor.h

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#ifndef MESSAGE_RELAY_PROCESSOR_FRAME_ID_PROCESSOR_H
#define MESSAGE_RELAY_PROCESSOR_FRAME_ID_PROCESSOR_H

#include <string>
#include <vector>
#include <boost/unordered_map.hpp>
#include <boost/unordered_set.hpp>

#include <boost/assign/list_of.hpp>

namespace message_relay
{

class FrameIdProcessor
{
public:
  typedef boost::shared_ptr<const FrameIdProcessor> ConstPtr;

  enum Operation
  {
    NONE, ADD_PREFIX, SELECTIVE_ADD_PREFIX, REMOVE_PREFIX, SELECTIVE_REMOVE_PREFIX
  };

  static ConstPtr create(std::string tf_prefix, std::string prefix_operation_string,
      boost::unordered_set<std::string> global_frame_names = boost::unordered_set<std::string>());

  static ConstPtr create(std::string tf_prefix, FrameIdProcessor::Operation prefix_operation,
      boost::unordered_set<std::string> global_frame_names = boost::unordered_set<std::string>());

  void process(std::string &frame_id) const;

  static ConstPtr inverse(const ConstPtr &processor);

private:
  FrameIdProcessor(std::string tf_prefix, Operation prefix_operation,
        boost::unordered_set<std::string> global_frame_names);

  static const boost::unordered_map<std::string, Operation> operation_name_map_;
  static const boost::unordered_map<Operation, Operation> operation_inverse_map_;

  std::string tf_prefix_;
  Operation prefix_operation_;
  boost::unordered_set<std::string> global_frame_names_;
};

}  // namespace message_relay

#endif  // MESSAGE_RELAY_PROCESSOR_FRAME_ID_PROCESSOR_H