Program Listing for File buffer_core.h
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// Copyright 2008, Willow Garage, Inc. All rights reserved.
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#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_