buffer_client.h

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* Author: Eitan Marder-Eppstein
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#ifndef TF2_ROS_BUFFER_CLIENT_H_
#define TF2_ROS_BUFFER_CLIENT_H_

#include <tf2_ros/buffer_interface.h>
#include <actionlib/client/simple_action_client.h>
#include <tf2_msgs/LookupTransformAction.h>

namespace tf2
{
  class BufferClient : public BufferInterface
  {
    public:
      typedef actionlib::SimpleActionClient<tf2_msgs::LookupTransformAction> LookupActionClient;

      BufferClient(std::string ns, double check_frequency = 10.0, ros::Duration timeout_padding_ = ros::Duration(2.0));

      virtual geometry_msgs::TransformStamped
        lookupTransform(const std::string& target_frame, const std::string& source_frame,
            const ros::Time& time, const ros::Duration timeout = ros::Duration(0.0)) const;

      virtual geometry_msgs::TransformStamped 
        lookupTransform(const std::string& target_frame, const ros::Time& target_time,
            const std::string& source_frame, const ros::Time& source_time,
            const std::string& fixed_frame, const ros::Duration timeout = ros::Duration(0.0)) const;

      virtual bool
        canTransform(const std::string& target_frame, const std::string& source_frame, 
            const ros::Time& time, const ros::Duration timeout = ros::Duration(0.0), std::string* errstr = NULL) const;

      virtual bool
        canTransform(const std::string& target_frame, const ros::Time& target_time,
            const std::string& source_frame, const ros::Time& source_time,
            const std::string& fixed_frame, const ros::Duration timeout = ros::Duration(0.0), std::string* errstr = NULL) const;

      bool waitForServer(const ros::Duration& timeout = ros::Duration(0))
      {
        return client_.waitForServer(timeout);
      }

    private:
      geometry_msgs::TransformStamped processGoal(const tf2_msgs::LookupTransformGoal& goal) const;
      geometry_msgs::TransformStamped processResult(const tf2_msgs::LookupTransformResult& result) const;
      mutable LookupActionClient client_;
      double check_frequency_;
      ros::Duration timeout_padding_;
  };
};
#endif