nodelet_with_shared_tf_buffer.hpp

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#pragma once

#include <memory>
#include <string>

#include <nodelet/nodelet.h>
#include <rosconsole/macros_generated.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>

#include <cras_cpp_common/nodelet_utils/nodelet_aware_tf_buffer.h>

namespace cras
{

namespace impl
{
// forward declaration
struct NodeletWithSharedTfBufferPrivate;
}

struct NodeletWithSharedTfBufferInterface
{
public:
  virtual void setBuffer(const ::std::shared_ptr<::tf2_ros::Buffer>& buffer) = 0;

  virtual ::cras::NodeletAwareTFBuffer& getBuffer() const = 0;

  virtual bool usesSharedBuffer() const = 0;
};

template <typename NodeletType = ::nodelet::Nodelet>
struct NodeletWithSharedTfBuffer : public virtual NodeletType, public ::cras::NodeletWithSharedTfBufferInterface
{
public:
  NodeletWithSharedTfBuffer();
  virtual ~NodeletWithSharedTfBuffer();

  void setBuffer(const ::std::shared_ptr<::tf2_ros::Buffer>& buffer) override;
  ::cras::NodeletAwareTFBuffer& getBuffer() const override;
  bool usesSharedBuffer() const override;

protected:
  using NodeletType::getName;

private:
  ::std::unique_ptr<::cras::impl::NodeletWithSharedTfBufferPrivate> data;
};

}

#include "impl/nodelet_with_shared_tf_buffer.hpp"