.. _program_listing_file_include_tf2_buffer_core.h:

Program Listing for File buffer_core.h
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_tf2_buffer_core.h>` (``include/tf2/buffer_core.h``)

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

.. code-block:: cpp

   // Copyright 2008, Willow Garage, Inc. All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the {copyright_holder} nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   
   #ifndef TF2__BUFFER_CORE_H_
   #define TF2__BUFFER_CORE_H_
   
   #include <algorithm>
   #include <chrono>
   #include <cmath>
   #include <functional>
   #include <map>
   #include <memory>
   #include <mutex>
   #include <string>
   #include <unordered_map>
   #include <utility>
   #include <vector>
   
   #include "LinearMath/Transform.h"
   #include "geometry_msgs/msg/transform_stamped.hpp"
   #include "geometry_msgs/msg/velocity_stamped.hpp"
   #include "rcutils/logging_macros.h"
   #include "tf2/buffer_core_interface.h"
   #include "tf2/exceptions.h"
   #include "tf2/transform_storage.h"
   #include "tf2/visibility_control.h"
   
   namespace tf2
   {
   
   typedef std::pair<TimePoint, CompactFrameID> P_TimeAndFrameID;
   typedef uint64_t TransformableRequestHandle;
   
   class TimeCacheInterface;
   using TimeCacheInterfacePtr = std::shared_ptr<TimeCacheInterface>;
   
   enum TransformableResult
   {
     TransformAvailable,
     TransformFailure,
   };
   
   static constexpr Duration BUFFER_CORE_DEFAULT_CACHE_TIME = std::chrono::seconds(10);
   
   class BufferCore : public BufferCoreInterface
   {
   public:
     /************* Constants ***********************/
     TF2_PUBLIC
     static const uint32_t MAX_GRAPH_DEPTH = 1000UL;
   
     TF2_PUBLIC
     explicit BufferCore(tf2::Duration cache_time = BUFFER_CORE_DEFAULT_CACHE_TIME);
   
     TF2_PUBLIC
     virtual ~BufferCore(void);
   
     TF2_PUBLIC
     void clear() override;
   
     TF2_PUBLIC
     bool setTransform(
       const geometry_msgs::msg::TransformStamped & transform,
       const std::string & authority, bool is_static = false);
   
     /*********** Accessors *************/
   
     TF2_PUBLIC
     geometry_msgs::msg::TransformStamped
     lookupTransform(
       const std::string & target_frame, const std::string & source_frame,
       const TimePoint & time) const override;
   
     TF2_PUBLIC
     geometry_msgs::msg::TransformStamped
     lookupTransform(
       const std::string & target_frame, const TimePoint & target_time,
       const std::string & source_frame, const TimePoint & source_time,
       const std::string & fixed_frame) const override;
   
     TF2_PUBLIC
     geometry_msgs::msg::VelocityStamped lookupVelocity(
       const std::string & tracking_frame, const std::string & observation_frame,
       const TimePoint & time, const tf2::Duration & averaging_interval) const;
   
     TF2_PUBLIC
     geometry_msgs::msg::VelocityStamped lookupVelocity(
       const std::string & tracking_frame, const std::string & observation_frame,
       const std::string & reference_frame, const tf2::Vector3 & reference_point,
       const std::string & reference_point_frame,
       const TimePoint & time, const tf2::Duration & duration) const;
   
     TF2_PUBLIC
     bool canTransform(
       const std::string & target_frame, const std::string & source_frame,
       const TimePoint & time, std::string * error_msg = nullptr) const override;
   
     TF2_PUBLIC
     bool canTransform(
       const std::string & target_frame, const TimePoint & target_time,
       const std::string & source_frame, const TimePoint & source_time,
       const std::string & fixed_frame, std::string * error_msg = nullptr) const override;
   
     TF2_PUBLIC
     std::vector<std::string> getAllFrameNames() const override;
   
     TF2_PUBLIC
     std::string allFramesAsYAML(TimePoint current_time) const;
   
     TF2_PUBLIC
     std::string allFramesAsYAML() const;
   
     TF2_PUBLIC
     std::string allFramesAsString() const;
   
     using TransformableCallback = std::function<
       void (TransformableRequestHandle request_handle, const std::string & target_frame,
       const std::string & source_frame,
       TimePoint time, TransformableResult result)>;
   
     TF2_PUBLIC
     TransformableRequestHandle addTransformableRequest(
       const TransformableCallback & cb,
       const std::string & target_frame,
       const std::string & source_frame,
       TimePoint time);
     TF2_PUBLIC
     void cancelTransformableRequest(TransformableRequestHandle handle);
   
   
     // Tell the buffer that there are multiple threads servicing it.
     // This is useful for derived classes to know if they can block or not.
     TF2_PUBLIC
     void setUsingDedicatedThread(bool value) {using_dedicated_thread_ = value;}
     // Get the state of using_dedicated_thread_
     TF2_PUBLIC
     bool isUsingDedicatedThread() const {return using_dedicated_thread_;}
   
   
     /* Backwards compatability section for tf::Transformer you should not use these
      */
   
     TF2_PUBLIC
     bool _frameExists(const std::string & frame_id_str) const;
   
     TF2_PUBLIC
     bool _getParent(const std::string & frame_id, TimePoint time, std::string & parent) const;
   
     TF2_PUBLIC
     void _getFrameStrings(std::vector<std::string> & ids) const;
   
   
     TF2_PUBLIC
     CompactFrameID _lookupFrameNumber(const std::string & frameid_str) const
     {
       return lookupFrameNumber(frameid_str);
     }
     TF2_PUBLIC
     CompactFrameID _lookupOrInsertFrameNumber(const std::string & frameid_str)
     {
       return lookupOrInsertFrameNumber(frameid_str);
     }
   
     TF2_PUBLIC
     tf2::TF2Error _getLatestCommonTime(
       CompactFrameID target_frame, CompactFrameID source_frame,
       TimePoint & time, std::string * error_string) const
     {
       std::unique_lock<std::mutex> lock(frame_mutex_);
       return getLatestCommonTime(target_frame, source_frame, time, error_string);
     }
   
     TF2_PUBLIC
     CompactFrameID _validateFrameId(
       const char * function_name_arg,
       const std::string & frame_id) const
     {
       return validateFrameId(function_name_arg, frame_id);
     }
   
     TF2_PUBLIC
     tf2::Duration getCacheLength() {return cache_time_;}
   
     TF2_PUBLIC
     std::string _allFramesAsDot(TimePoint current_time) const;
     TF2_PUBLIC
     std::string _allFramesAsDot() const;
   
     TF2_PUBLIC
     void _chainAsVector(
       const std::string & target_frame, TimePoint target_time,
       const std::string & source_frame, TimePoint source_time,
       const std::string & fixed_frame,
       std::vector<std::string> & output) const;
   
   private:
     /******************** Internal Storage ****************/
   
     typedef std::vector<TimeCacheInterfacePtr> V_TimeCacheInterface;
     V_TimeCacheInterface frames_;
   
     mutable std::mutex frame_mutex_;
   
     typedef std::unordered_map<std::string, CompactFrameID> M_StringToCompactFrameID;
     M_StringToCompactFrameID frameIDs_;
     std::vector<std::string> frameIDs_reverse_;
     std::map<CompactFrameID, std::string> frame_authority_;
   
   
     tf2::Duration cache_time_;
   
     typedef uint32_t TransformableCallbackHandle;
   
     typedef std::unordered_map<TransformableCallbackHandle,
         TransformableCallback> M_TransformableCallback;
     M_TransformableCallback transformable_callbacks_;
     uint32_t transformable_callbacks_counter_;
     std::mutex transformable_callbacks_mutex_;
   
     struct TransformableRequest
     {
       TimePoint time;
       TransformableRequestHandle request_handle;
       TransformableCallbackHandle cb_handle;
       CompactFrameID target_id;
       CompactFrameID source_id;
       std::string target_string;
       std::string source_string;
     };
     typedef std::vector<TransformableRequest> V_TransformableRequest;
     V_TransformableRequest transformable_requests_;
     std::mutex transformable_requests_mutex_;
     uint64_t transformable_requests_counter_;
   
     bool using_dedicated_thread_;
   
     /************************* Internal Functions ****************************/
   
     std::string allFramesAsStringNoLock() const;
   
     bool setTransformImpl(
       const tf2::Transform & transform_in, const std::string frame_id,
       const std::string child_frame_id, const TimePoint stamp,
       const std::string & authority, bool is_static);
     void lookupTransformImpl(
       const std::string & target_frame, const std::string & source_frame,
       const TimePoint & time_in, tf2::Transform & transform, TimePoint & time_out) const;
   
     void lookupTransformImpl(
       const std::string & target_frame, const TimePoint & target_time,
       const std::string & source_frame, const TimePoint & source_time,
       const std::string & fixed_frame, tf2::Transform & transform, TimePoint & time_out) const;
   
     TimeCacheInterfacePtr getFrame(CompactFrameID c_frame_id) const;
   
     TimeCacheInterfacePtr allocateFrame(CompactFrameID cfid, bool is_static);
   
     CompactFrameID validateFrameId(
       const char * function_name_arg,
       const std::string & frame_id,
       std::string * error_msg) const;
   
     CompactFrameID validateFrameId(
       const char * function_name_arg,
       const std::string & frame_id) const;
   
     CompactFrameID lookupFrameNumber(const std::string & frameid_str) const;
   
     CompactFrameID lookupOrInsertFrameNumber(const std::string & frameid_str);
   
     const std::string & lookupFrameString(CompactFrameID frame_id_num) const;
   
     void createConnectivityErrorString(
       CompactFrameID source_frame, CompactFrameID target_frame,
       std::string * out) const;
   
     tf2::TF2Error getLatestCommonTime(
       CompactFrameID target_frame, CompactFrameID source_frame,
       TimePoint & time, std::string * error_string) const;
   
     template<typename F>
     tf2::TF2Error walkToTopParent(
       F & f, TimePoint time, CompactFrameID target_id,
       CompactFrameID source_id, std::string * error_string,
       std::vector<CompactFrameID> * frame_chain) const;
   
     void testTransformableRequests();
   
     // Actual implementation to walk the transform tree and find out if a transform exists.
     bool canTransformInternal(
       CompactFrameID target_id, CompactFrameID source_id,
       const TimePoint & time, std::string * error_msg) const;
   };
   }  // namespace tf2
   
   #endif  // TF2__BUFFER_CORE_H_