Program Listing for File wgs84_transformer.h

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#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_