buffer.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef TF2_ROS_BUFFER_H
#define TF2_ROS_BUFFER_H
 
#include <tf2_ros/buffer_interface.h>
#include <tf2/buffer_core.h>
#include <tf2_msgs/FrameGraph.h>
#include <ros/ros.h>
#include <tf2/convert.h>
 
 
namespace tf2_ros
{
 
  class Buffer: public BufferInterface, public tf2::BufferCore
  {
  public:
    using tf2::BufferCore::lookupTransform;
    using tf2::BufferCore::canTransform;
 
    Buffer(ros::Duration cache_time = ros::Duration(BufferCore::DEFAULT_CACHE_TIME), bool debug = false);
 
    virtual geometry_msgs::TransformStamped 
    lookupTransform(const std::string& target_frame, const std::string& source_frame,
                    const ros::Time& time, const ros::Duration timeout) const;
 
    virtual geometry_msgs::TransformStamped 
    lookupTransform(const std::string& target_frame, const ros::Time& target_time,
                    const std::string& source_frame, const ros::Time& source_time,
                    const std::string& fixed_frame, const ros::Duration timeout) const;
 
 
    virtual bool
    canTransform(const std::string& target_frame, const std::string& source_frame, 
                 const ros::Time& target_time, const ros::Duration timeout, std::string* errstr = NULL) const;
    
    virtual bool
      canTransform(const std::string& target_frame, const ros::Time& target_time,
                   const std::string& source_frame, const ros::Time& source_time,
                   const std::string& fixed_frame, const ros::Duration timeout, std::string* errstr = NULL) const;
 
 
    
    
  private:
    bool getFrames(tf2_msgs::FrameGraph::Request& req, tf2_msgs::FrameGraph::Response& res) ;
 
 
    // conditionally error if dedicated_thread unset.
    bool checkAndErrorDedicatedThreadPresent(std::string* errstr) const;
 
    ros::ServiceServer frames_server_;
 
 
  }; // class 
 
static const std::string threading_error = "Do not call canTransform or lookupTransform with a timeout unless you are using another thread for populating data. Without a dedicated thread it will always timeout.  If you have a separate thread servicing tf messages, call setUsingDedicatedThread(true) on your Buffer instance.";
 
  
} // namespace
 
#endif // TF2_ROS_BUFFER_H