buffer_interface.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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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       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_INTERFACE_H
#define TF2_ROS_BUFFER_INTERFACE_H
 
#include <tf2/buffer_core.h>
#include <tf2/transform_datatypes.h>
#include <tf2/exceptions.h>
#include <geometry_msgs/TransformStamped.h>
#include <sstream>
#include <tf2/convert.h>
 
namespace tf2_ros
{
 
class BufferInterface
{
public:
 
  virtual geometry_msgs::TransformStamped
    lookupTransform(const std::string& target_frame, const std::string& source_frame, 
                    const ros::Time& time, const ros::Duration timeout) const = 0;
 
  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 = 0;
 
 
  virtual bool
    canTransform(const std::string& target_frame, const std::string& source_frame, 
                 const ros::Time& time, const ros::Duration timeout, std::string* errstr = NULL) const = 0;
 
  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 = 0;
 
  template <class T>
    T& transform(const T& in, T& out, 
                 const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    // do the transform
    tf2::doTransform(in, out, lookupTransform(target_frame, tf2::getFrameId(in), tf2::getTimestamp(in), timeout));
    return out;
  }
 
  template <class T>
    T transform(const T& in,
                const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    T out;
    return transform(in, out, target_frame, timeout);
  }
 
  template <class A, class B>
    B& transform(const A& in, B& out,
        const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    A copy = transform(in, target_frame, timeout);
    tf2::convert(copy, out);
    return out;
  }
 
  template <class T>
    T& transform(const T& in, T& out, 
                 const std::string& target_frame, const ros::Time& target_time,
                 const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    // do the transform
    tf2::doTransform(in, out, lookupTransform(target_frame, target_time, 
                                              tf2::getFrameId(in), tf2::getTimestamp(in), 
                                              fixed_frame, timeout));
    return out;
  }
 
 
  template <class T>
    T transform(const T& in, 
                 const std::string& target_frame, const ros::Time& target_time,
                 const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    T out;
    return transform(in, out, target_frame, target_time, fixed_frame, timeout);
  }
 
 
  template <class A, class B>
    B& transform(const A& in, B& out, 
                 const std::string& target_frame, const ros::Time& target_time,
                 const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    // do the transform
    A copy = transform(in, target_frame, target_time, fixed_frame, timeout);
    tf2::convert(copy, out);
    return out;
  }
 
 
 }; // class
 
 
} // namespace
 
#endif // TF2_ROS_BUFFER_INTERFACE_H