wgs84_transformer.h

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#ifndef TRANSFORM_UTIL_WGS84_TRANSFORMER_H_
#define TRANSFORM_UTIL_WGS84_TRANSFORMER_H_

#include <map>
#include <string>
#include <vector>

#include <boost/shared_ptr.hpp>

#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>

#include <swri_transform_util/local_xy_util.h>
#include <swri_transform_util/transformer.h>

namespace swri_transform_util
{
  /***
   * Specialization of Transformer to perform transforms to/from WGS84
   */
  class Wgs84Transformer : public Transformer
  {
    public:
      Wgs84Transformer();

      virtual std::map<std::string, std::vector<std::string> > Supports() const;

      virtual bool GetTransform(
        const std::string& target_frame,
        const std::string& source_frame,
        const ros::Time& time,
        Transform& transform);

    protected:
      virtual bool Initialize();

      std::string local_xy_frame_;
  };

  class TfToWgs84Transform : public TransformImpl
  {
  public:
    TfToWgs84Transform(
      const tf::StampedTransform& transform,
      boost::shared_ptr<LocalXyWgs84Util> local_xy_util);

    virtual void Transform(const tf::Vector3& v_in, tf::Vector3& v_out) const;

    virtual tf::Quaternion GetOrientation() const;
    virtual TransformImplPtr Inverse() const;

  protected:
    tf::StampedTransform transform_;
    boost::shared_ptr<LocalXyWgs84Util> local_xy_util_;
  };

  class Wgs84ToTfTransform : public TransformImpl
  {
  public:
    Wgs84ToTfTransform(
      const tf::StampedTransform& transform,
      boost::shared_ptr<LocalXyWgs84Util> local_xy_util);

    virtual void Transform(const tf::Vector3& v_in, tf::Vector3& v_out) const;

    virtual tf::Quaternion GetOrientation() const;
    virtual TransformImplPtr Inverse() const;
  protected:
    tf::StampedTransform transform_;
    boost::shared_ptr<LocalXyWgs84Util> local_xy_util_;
  };
}

#endif  // TRANSFORM_UTIL_WGS84_TRANSFORMER_H_