Program Listing for File transform_manager.h
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#ifndef TRANSFORM_UTIL_TRANSFORM_MANAGER_H_
#define TRANSFORM_UTIL_TRANSFORM_MANAGER_H_
#include <map>
#include <string>
#include <rclcpp/logger.hpp>
#include <boost/make_shared.hpp>
#include <boost/shared_ptr.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <tf2/transform_datatypes.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <swri_transform_util/local_xy_util.h>
#include <swri_transform_util/transform.h>
#include <swri_transform_util/transformer.h>
namespace swri_transform_util
{
typedef std::map<std::string, std::shared_ptr<Transformer> > TransformerMap;
typedef std::map<std::string, TransformerMap> SourceTargetMap;
class TransformManager
{
public:
explicit TransformManager(rclcpp::Node::SharedPtr node);
void Initialize(std::shared_ptr<tf2_ros::Buffer> tf_buffer);
bool GetTransform(
const std::string& target_frame,
const std::string& source_frame,
const tf2::TimePoint& time,
Transform& transform) const;
bool GetTransform(
const std::string& target_frame,
const std::string& source_frame,
Transform& transform) const;
bool SupportsTransform(
const std::string& target_frame,
const std::string& source_frame) const;
bool GetTransform(
const std::string& target_frame,
const std::string& source_frame,
const tf2::TimePoint& time,
geometry_msgs::msg::TransformStamped& transform) const;
bool GetTransform(
const std::string& target_frame,
const std::string& source_frame,
geometry_msgs::msg::TransformStamped& transform) const;
bool GetTransform(
const std::string& target_frame,
const std::string& source_frame,
const tf2::TimePoint& time,
const tf2::Duration& timeout,
geometry_msgs::msg::TransformStamped& transform) const;
bool GetTransform(
const std::string& target_frame,
const std::string& source_frame,
const tf2::Duration& timeout,
geometry_msgs::msg::TransformStamped& transform) const;
const LocalXyWgs84UtilPtr& LocalXyUtil() const;
private:
rclcpp::Node::SharedPtr node_;
std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
LocalXyWgs84UtilPtr local_xy_util_;
SourceTargetMap transformers_;
};
typedef std::shared_ptr<TransformManager> TransformManagerPtr;
}
#endif // TRANSFORM_UTIL_TRANSFORM_MANAGER_H_