transform_collection.h

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/*
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#ifndef WAREHOUSE_ROS_TF_COLLECTION_H
#define WAREHOUSE_ROS_TF_COLLECTION_H
 
#include <warehouse_ros/message_collection.h>
#include <tf/transform_listener.h>
#include <tf/tfMessage.h>
 
namespace warehouse_ros
{
class TransformSource
{
public:
  virtual tf::StampedTransform lookupTransform(const std::string& target_frame, const std::string& source_frame,
                                               double t) const = 0;
};
 
class TransformCollection : public TransformSource
{
public:
  TransformCollection(MessageCollection<tf::tfMessage>& coll, const double search_back = 10.0,
                      const double search_forward = 1.0)
    : TransformSource(), coll_(coll), search_back_(search_back), search_forward_(search_forward)
  {
  }
 
  tf::StampedTransform lookupTransform(const std::string& target_frame, const std::string& source_frame,
                                       double t) const override;
 
  void putTransform(tf::StampedTransform);
 
private:
  MessageCollection<tf::tfMessage> coll_;
  double search_back_;
  double search_forward_;
};
 
class LiveTransformSource : public TransformSource
{
public:
  LiveTransformSource(double timeout = 0) : TransformSource(), tf_(new tf::TransformListener()), timeout_(timeout)
  {
  }
 
  tf::StampedTransform lookupTransform(const std::string& target, const std::string& source, double t) const override
  {
    ros::Time tm(t);
    tf_->waitForTransform(target, source, tm, ros::Duration(timeout_));
    tf::StampedTransform trans;
    tf_->lookupTransform(target, source, tm, trans);  // Can throw
    return trans;
  }
 
private:
  ros::NodeHandle nh_;
  boost::shared_ptr<tf::TransformListener> tf_;
  ros::Duration timeout_;
};
 
}  // namespace warehouse_ros
 
#endif  // include guard