tf2_scanner.h

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// Scans multiple bag files for tf2 messages and aggregates them
// Author: Max Schwarz <max.schwarz@ais.uni-bonn.de>

#ifndef ROSBAG_FANCY_TF2_SCANNER
#define ROSBAG_FANCY_TF2_SCANNER

#include <vector>
#include <memory>

#include <tf2_msgs/TFMessage.h>

namespace rosbag_fancy
{

class BagReader;

class TF2Scanner
{
public:
        explicit TF2Scanner(const std::vector<BagReader*>& readers);
        ~TF2Scanner();

        const tf2_msgs::TFMessage* fetchUpdate(const ros::Time& time);

private:
        friend class Cursor;
        class Private;
        std::unique_ptr<Private> m_d;
};

}

#endif