Program Listing for File transformer.h
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#ifndef TRANSFORM_UTIL_TRANSFORMER_H_
#define TRANSFORM_UTIL_TRANSFORMER_H_
#include <map>
#include <string>
#include <vector>
#include <boost/shared_ptr.hpp>
#include <rclcpp/rclcpp.hpp>
#include <tf2/transform_datatypes.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <swri_transform_util/transform.h>
#include <swri_transform_util/local_xy_util.h>
namespace swri_transform_util
{
class Transformer
{
public:
Transformer();
virtual ~Transformer() = default;
void Initialize(std::shared_ptr<tf2_ros::Buffer> tf,
std::shared_ptr<LocalXyWgs84Util> xy_util);
virtual std::map<std::string, std::vector<std::string> > Supports() const = 0;
virtual bool GetTransform(
const std::string& target_frame,
const std::string& source_frame,
const tf2::TimePoint& time,
Transform& transform) = 0;
protected:
bool initialized_;
std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
std::shared_ptr<LocalXyWgs84Util> local_xy_util_;
rclcpp::Logger logger_;
virtual bool Initialize();
virtual bool GetTransform(
const std::string& target_frame,
const std::string& source_frame,
const tf2::TimePoint& time,
geometry_msgs::msg::TransformStamped& transform) const;
};
}
#endif // TRANSFORM_UTIL_TRANSFORMER_H_