tf_pair.h

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/*********************************************************************
 *
 *  Copyright (c) 2014, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
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 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Willow Garage 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
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 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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 * Author: Julius Kammerl (jkammerl@willowgarage.com)
 *
 */
 
 
#include <tf/tfMessage.h>
#include <tf/transform_datatypes.h>
 
 
class TFPair
{
public:
 
  TFPair() :
    is_okay(true),
    angular_thres_(0.0f),
    trans_thres_(0.0f),
    updated_(false),
    first_transmission_(true)
  {
  }
 
  TFPair(const std::string& source_frame,
         const std::string& target_frame,
         float angular_thres = 0.0f,
         float trans_thres = 0.0f) :
      is_okay(true),
      source_frame_(source_frame),
      target_frame_(target_frame),
      angular_thres_(angular_thres),
      trans_thres_(trans_thres),
      updated_(false),
      first_transmission_(true)
  {
  }
 
  ~TFPair()
  {
  }
 
  void setSourceFrame(const std::string& source_frame)
  {
    source_frame_ = source_frame;
    updated_ = true;
  }
 
  const std::string& getSourceFrame() const
  {
    return source_frame_;
  }
 
  void setTargetFrame(const std::string& target_frame)
  {
    target_frame_ = target_frame;
    updated_ = true;
  }
 
  const std::string& getTargetFrame() const
  {
    return target_frame_;
  }
 
  void setAngularThres(float angular_thres)
  {
    angular_thres_ = angular_thres;
    updated_ = true;
  }
 
  float getAngularThres()
  {
    return angular_thres_;
  }
 
  void setTransThres(float trans_thres)
  {
    trans_thres_ = trans_thres;
    updated_ = true;
  }
 
  float getTransThres()
  {
    return trans_thres_;
  }
 
  void updateTransform(geometry_msgs::TransformStamped& update)
  {
    tf::transformMsgToTF(update.transform, tf_received_);
    updated_ = true;
  }
 
  void transmissionTriggered()
  {
    tf_transmitted_ = tf_received_;
  }
 
  bool updateNeeded()
  {
    bool result = false;
 
    if (updated_)
    {
      if (trans_thres_ == 0.0 || angular_thres_ == 0.0
          || tf_transmitted_.getOrigin().distance(tf_received_.getOrigin()) > trans_thres_
          || tf_transmitted_.getRotation().angle(tf_received_.getRotation()) > angular_thres_
          || first_transmission_)
      {
        result = true;
        first_transmission_ = false;
      }       
    }
 
    updated_ = false;
 
    return result;
  }
 
  const std::string getID()
  {
    return source_frame_+"-"+target_frame_;
  }
 
public:
  bool is_okay; 
private:
  std::string source_frame_;
  std::string target_frame_;
 
  float angular_thres_;
  float trans_thres_;
 
  tf::Transform tf_transmitted_;
  tf::Transform tf_received_;
 
  bool updated_;
  bool first_transmission_;
 
};
 
typedef boost::shared_ptr<TFPair> TFPairPtr;