Program Listing for File frame_manager.hpp

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// 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_