Program Listing for File transform_storage.h
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// Copyright 2010, Willow Garage, Inc. All rights reserved.
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#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_