buffer_server.h
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35 * Author: Eitan Marder-Eppstein
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37 #ifndef TF2_ROS_BUFFER_SERVER_H_
38 #define TF2_ROS_BUFFER_SERVER_H_
39 
41 #include <tf2_msgs/LookupTransformAction.h>
42 #include <geometry_msgs/TransformStamped.h>
43 #include <tf2_ros/buffer.h>
44 
45 namespace tf2_ros
46 {
52  class BufferServer
53  {
54  private:
57 
58  struct GoalInfo
59  {
62  };
63 
64  public:
71  BufferServer(const Buffer& buffer, const std::string& ns,
72  bool auto_start = true, ros::Duration check_period = ros::Duration(0.01));
73 
76  void start();
77 
78  private:
79  void goalCB(GoalHandle gh);
80  void cancelCB(GoalHandle gh);
81  void checkTransforms(const ros::TimerEvent& e);
82  bool canTransform(GoalHandle gh);
83  geometry_msgs::TransformStamped lookupTransform(GoalHandle gh);
84 
85  const Buffer& buffer_;
87  std::list<GoalInfo> active_goals_;
88  boost::mutex mutex_;
90  };
91 }
92 #endif
actionlib::ActionServer< tf2_msgs::LookupTransformAction >
tf2_ros::BufferServer::active_goals_
std::list< GoalInfo > active_goals_
Definition: buffer_server.h:157
tf2_ros::BufferServer::server_
LookupTransformServer server_
Definition: buffer_server.h:156
tf2_ros::BufferServer::goalCB
void goalCB(GoalHandle gh)
Definition: buffer_server.cpp:169
tf2_ros::BufferServer::BufferServer
BufferServer(const Buffer &buffer, const std::string &ns, bool auto_start=true, ros::Duration check_period=ros::Duration(0.01))
Constructor.
Definition: buffer_server.cpp:76
tf2_ros::BufferServer::GoalInfo::handle
GoalHandle handle
Definition: buffer_server.h:130
tf2_ros
Definition: buffer.h:42
tf2_ros::BufferServer::mutex_
boost::mutex mutex_
Definition: buffer_server.h:158
tf2_ros::BufferServer::canTransform
bool canTransform(GoalHandle gh)
Definition: buffer_server.cpp:228
tf2_ros::BufferServer::cancelCB
void cancelCB(GoalHandle gh)
Definition: buffer_server.cpp:149
tf2_ros::BufferServer::checkTransforms
void checkTransforms(const ros::TimerEvent &e)
Definition: buffer_server.cpp:88
ros::TimerEvent
tf2_ros::BufferServer::start
void start()
Start the action server.
Definition: buffer_server.cpp:252
buffer.h
action_server.h
tf2_ros::BufferServer::GoalHandle
LookupTransformServer::GoalHandle GoalHandle
Definition: buffer_server.h:126
actionlib::ActionServer< tf2_msgs::LookupTransformAction >::GoalHandle
ServerGoalHandle< ActionSpec > GoalHandle
tf2_ros::BufferServer::check_timer_
ros::Timer check_timer_
Definition: buffer_server.h:159
tf2_ros::BufferServer::lookupTransform
geometry_msgs::TransformStamped lookupTransform(GoalHandle gh)
Definition: buffer_server.cpp:240
ros::Time
tf2_ros::BufferServer::buffer_
const Buffer & buffer_
Definition: buffer_server.h:155
ros::Duration
ros::Timer
tf2_ros::BufferServer::GoalInfo::end_time
ros::Time end_time
Definition: buffer_server.h:131
tf2_ros::BufferServer::LookupTransformServer
actionlib::ActionServer< tf2_msgs::LookupTransformAction > LookupTransformServer
Definition: buffer_server.h:125


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Sun Feb 4 2024 03:18:16