transform_datatypes.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef TF2_TRANSFORM_DATATYPES_H
#define TF2_TRANSFORM_DATATYPES_H
 
#include <string>
#include "ros/time.h"
 
namespace tf2
{
 
template <typename T>
class Stamped : public T{
 public:
  ros::Time stamp_; 
  std::string frame_id_; 
 
  Stamped() :frame_id_ ("NO_ID_STAMPED_DEFAULT_CONSTRUCTION"){}; //Default constructor used only for preallocation
 
  Stamped(const T& input, const ros::Time& timestamp, const std::string & frame_id) :
    T (input), stamp_ ( timestamp ), frame_id_ (frame_id){ } ;
  
  Stamped(const Stamped<T>& s):
    T (s),
    stamp_(s.stamp_),
    frame_id_(s.frame_id_) {}
 
  Stamped<T> & operator=(const Stamped<T> & rhs)
  {
    T::operator=(rhs);
    stamp_ = rhs.stamp_;
    frame_id_ = rhs.frame_id_;
    return *this;
  }
 
  
  void setData(const T& input){*static_cast<T*>(this) = input;};
};
 
template <typename T> 
bool operator==(const Stamped<T> &a, const Stamped<T> &b) {
  return a.frame_id_ == b.frame_id_ && a.stamp_ == b.stamp_ && static_cast<const T&>(a) == static_cast<const T&>(b);
}
 
 
}
#endif //TF2_TRANSFORM_DATATYPES_H