.. _program_listing_file__tmp_ws_src_marti_common_swri_transform_util_include_swri_transform_util_wgs84_transformer.h:

Program Listing for File wgs84_transformer.h
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_marti_common_swri_transform_util_include_swri_transform_util_wgs84_transformer.h>` (``/tmp/ws/src/marti_common/swri_transform_util/include/swri_transform_util/wgs84_transformer.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // *****************************************************************************
   //
   // Copyright (c) 2014, Southwest Research Institute® (SwRI®)
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //     * 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 Southwest Research Institute® (SwRI®) 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"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
   // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
   // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
   // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
   // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
   // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   //
   // *****************************************************************************
   
   #ifndef TRANSFORM_UTIL_WGS84_TRANSFORMER_H_
   #define TRANSFORM_UTIL_WGS84_TRANSFORMER_H_
   
   #include <map>
   #include <string>
   #include <vector>
   
   #include <tf2/transform_datatypes.h>
   #include <tf2_ros/buffer.h>
   #include <geometry_msgs/msg/transform_stamped.hpp>
   
   #include <swri_transform_util/local_xy_util.h>
   #include <swri_transform_util/transformer.h>
   
   namespace swri_transform_util
   {
     /***
      * Specialization of Transformer to perform transforms to/from WGS84
      */
     class Wgs84Transformer : public Transformer
     {
       public:
         explicit Wgs84Transformer(LocalXyWgs84UtilPtr local_xy_util);
   
         std::map<std::string, std::vector<std::string> > Supports() const override;
   
         bool GetTransform(
           const std::string& target_frame,
           const std::string& source_frame,
           const tf2::TimePoint& time,
           Transform& transform) override;
   
       protected:
         bool Initialize() override;
   
         std::string local_xy_frame_;
     };
   
     class TfToWgs84Transform : public TransformImpl, public StampedTransformStampInterface
     {
     public:
       TfToWgs84Transform(
         const geometry_msgs::msg::TransformStamped& transform,
         std::shared_ptr<LocalXyWgs84Util> local_xy_util);
   
       void Transform(const tf2::Vector3& v_in, tf2::Vector3& v_out) const override;
   
       tf2::Quaternion GetOrientation() const override;
   
       TransformImplPtr Inverse() const override;
   
     protected:
       std::shared_ptr<LocalXyWgs84Util> local_xy_util_;
     };
   
     class Wgs84ToTfTransform : public TransformImpl, public StampedTransformStampInterface
     {
     public:
       Wgs84ToTfTransform(
         const geometry_msgs::msg::TransformStamped& transform,
         std::shared_ptr<LocalXyWgs84Util> local_xy_util);
   
       void Transform(const tf2::Vector3& v_in, tf2::Vector3& v_out) const override;
   
       tf2::Quaternion GetOrientation() const override;
       TransformImplPtr Inverse() const override;
     protected:
       std::shared_ptr<LocalXyWgs84Util> local_xy_util_;
     };
   }
   
   #endif  // TRANSFORM_UTIL_WGS84_TRANSFORMER_H_