transform_collection.h
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30 
39 #ifndef WAREHOUSE_ROS_TF_COLLECTION_H
40 #define WAREHOUSE_ROS_TF_COLLECTION_H
41 
43 #include <tf/transform_listener.h>
44 #include <tf/tfMessage.h>
45 
46 namespace warehouse_ros
47 {
51 {
52 public:
55  virtual tf::StampedTransform lookupTransform(const std::string& target_frame, const std::string& source_frame,
56  double t) const = 0;
57 };
58 
67 {
68 public:
69  TransformCollection(MessageCollection<tf::tfMessage>& coll, const double search_back = 10.0,
70  const double search_forward = 1.0)
71  : TransformSource(), coll_(coll), search_back_(search_back), search_forward_(search_forward)
72  {
73  }
74 
77  virtual tf::StampedTransform lookupTransform(const std::string& target_frame, const std::string& source_frame,
78  double t) const;
79 
81  void putTransform(tf::StampedTransform);
82 
83 private:
85  double search_back_;
87 };
88 
92 {
93 public:
97  LiveTransformSource(double timeout = 0) : TransformSource(), tf_(new tf::TransformListener()), timeout_(timeout)
98  {
99  }
100 
103  virtual tf::StampedTransform lookupTransform(const std::string& target, const std::string& source, double t) const
104  {
105  ros::Time tm(t);
106  tf_->waitForTransform(target, source, tm, ros::Duration(timeout_));
107  tf::StampedTransform trans;
108  tf_->lookupTransform(target, source, tm, trans); // Can throw
109  return trans;
110  }
111 
112 private:
116 };
117 
118 } // namespace
119 
120 #endif // include guard
virtual tf::StampedTransform lookupTransform(const std::string &target_frame, const std::string &source_frame, double t) const =0
boost::shared_ptr< tf::TransformListener > tf_
MessageCollection< tf::tfMessage > coll_
TransformCollection(MessageCollection< tf::tfMessage > &coll, const double search_back=10.0, const double search_forward=1.0)
virtual tf::StampedTransform lookupTransform(const std::string &target, const std::string &source, double t) const


warehouse_ros
Author(s): Bhaskara Marthi , Connor Brew
autogenerated on Fri Jun 7 2019 21:44:23