.. _program_listing_file__tmp_ws_src_ign_rviz_ign_rviz_common_include_ignition_rviz_common_frame_manager.hpp:

Program Listing for File frame_manager.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ign_rviz_ign_rviz_common_include_ignition_rviz_common_frame_manager.hpp>` (``/tmp/ws/src/ign_rviz/ign_rviz_common/include/ignition/rviz/common/frame_manager.hpp``)

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

.. code-block:: cpp

   // Copyright (c) 2020 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef IGNITION__RVIZ__COMMON__FRAME_MANAGER_HPP_
   #define IGNITION__RVIZ__COMMON__FRAME_MANAGER_HPP_
   
   #include <QObject>
   #include <tf2_ros/buffer.h>
   #include <tf2_ros/transform_listener.h>
   #include <ignition/math/Pose3.hh>
   
   #include <memory>
   #include <mutex>
   #include <string>
   #include <unordered_map>
   #include <vector>
   
   #include <tf2_msgs/msg/tf_message.hpp>
   #include <rclcpp/rclcpp.hpp>
   
   namespace ignition
   {
   namespace rviz
   {
   namespace common
   {
   class FrameManager : public QObject
   {
     Q_OBJECT
   
   public:
     explicit FrameManager(rclcpp::Node::SharedPtr _node);
   
     void setFixedFrame(const std::string & _fixedFrame);
   
     bool getFramePose(const std::string & _frame, ignition::math::Pose3d & _pose);
   
     bool getParentPose(const std::string & _child, ignition::math::Pose3d & _pose);
   
     void getFrames(std::vector<std::string> & _frames);
   
     std::string getFixedFrame();
   
   protected:
     void tf_callback(const tf2_msgs::msg::TFMessage::SharedPtr _msg);
   
   private:
     rclcpp::Node::SharedPtr node;
     std::mutex tf_mutex_;
     std::string fixedFrame;
     std::shared_ptr<tf2_ros::Buffer> tfBuffer;
     std::shared_ptr<tf2_ros::TransformListener> tfListener;
     rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr subscriber;
     std::unordered_map<std::string, ignition::math::Pose3d> tfTree;
     tf2::TimePoint timePoint;
     unsigned int frameCount;
   };
   }  // namespace common
   }  // namespace rviz
   }  // namespace ignition
   
   #endif  // IGNITION__RVIZ__COMMON__FRAME_MANAGER_HPP_