.. _program_listing_file_include_tf2_transform_storage.h:

Program Listing for File transform_storage.h
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_tf2_transform_storage.h>` (``include/tf2/transform_storage.h``)

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

.. code-block:: cpp

   // Copyright 2010, 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 Willow Garage 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__TRANSFORM_STORAGE_H_
   #define TF2__TRANSFORM_STORAGE_H_
   
   #include "tf2/LinearMath/Vector3.h"
   #include "tf2/LinearMath/Quaternion.h"
   #include "tf2/time.h"
   #include "tf2/visibility_control.h"
   
   namespace tf2
   {
   typedef uint32_t CompactFrameID;
   
   class TransformStorage
   {
   public:
     TF2_PUBLIC
     TransformStorage();
     TF2_PUBLIC
     TransformStorage(
       const TimePoint & stamp, const Quaternion & q, const Vector3 & t, CompactFrameID frame_id,
       CompactFrameID child_frame_id);
   
     TF2_PUBLIC
     TransformStorage(const TransformStorage & rhs)
     {
       *this = rhs;
     }
   
     TF2_PUBLIC
     TransformStorage & operator=(const TransformStorage & rhs)
     {
       rotation_ = rhs.rotation_;
       translation_ = rhs.translation_;
       stamp_ = rhs.stamp_;
       frame_id_ = rhs.frame_id_;
       child_frame_id_ = rhs.child_frame_id_;
       return *this;
     }
   
     TF2_PUBLIC
     bool operator==(const TransformStorage & rhs) const
     {
       return (this->rotation_ == rhs.rotation_) &&
              (this->translation_ == rhs.translation_) &&
              (this->stamp_ == rhs.stamp_) &&
              (this->frame_id_ == rhs.frame_id_) &&
              (this->child_frame_id_ == rhs.child_frame_id_);
     }
   
     TF2_PUBLIC
     bool operator!=(const TransformStorage & rhs) const
     {
       return !(*this == rhs);
     }
   
     tf2::Quaternion rotation_;
     tf2::Vector3 translation_;
     TimePoint stamp_;
     CompactFrameID frame_id_;
     CompactFrameID child_frame_id_;
   };
   }  // namespace tf2
   #endif  // TF2__TRANSFORM_STORAGE_H_