tf_smart_throttle.h
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00036 #ifndef SCENE_MANAGER_H_
00037 #define SCENE_MANAGER_H_
00038 
00039 #include <map>
00040 #include <ros/ros.h>
00041 #include <boost/thread/mutex.hpp>
00042 #include <tf_smart_throttle/PublishAllTransforms.h>
00043 #include <tf/transform_listener.h>
00044 #include <XmlRpcValue.h>
00045 
00046 namespace tf_smart_throttle {
00047 
00048 class FramePair
00049 {
00050 public:
00051   FramePair(const std::string& source_frame, const std::string& target_frame, double translational_update_distance, double angular_update_distance) :
00052     source_frame_(source_frame),
00053     target_frame_(target_frame),
00054     translational_update_distance_(translational_update_distance),
00055     angular_update_distance_(angular_update_distance)
00056   {
00057     pose_in_ = tf::Stamped<tf::Pose>(tf::Pose(tf::createIdentityQuaternion(), tf::Vector3(0, 0, 0)), ros::Time(), source_frame_);
00058   }
00059 
00060 public:
00061   std::string source_frame_;
00062   std::string target_frame_;
00063 
00064   tf::Stamped<tf::Pose> pose_in_;
00065   tf::Stamped<tf::Pose> pose_out_;
00066   tf::Stamped<tf::Pose> last_sent_pose_;
00067 
00068   double translational_update_distance_;
00069   double angular_update_distance_;
00070 };
00071 
00076 class TransformManager {
00077 public:
00082   TransformManager(ros::NodeHandle& node);
00083 
00087   virtual ~TransformManager();
00088 
00092   bool publishAllTransforms(tf_smart_throttle::PublishAllTransforms::Request& req, tf_smart_throttle::PublishAllTransforms::Response& resp);
00093 
00097   void spin();
00098 
00102   void tfCallback(const tf::tfMessageConstPtr& msg_ptr);
00103 
00104   void publishAll();
00105   void publishChanged();
00106 
00107 private:
00108   ros::NodeHandle node_;
00109   double polling_frequency_;
00110   double translational_update_distance_;
00111   double angular_update_distance_;
00112 
00113   boost::mutex frame_pairs_mutex_;
00114   std::map<std::string,FramePair> frame_pairs_;
00115   tf::TransformListener tfl_;
00116   ros::Publisher pub_;
00117 
00118   bool publish_all_;
00119   ros::ServiceServer publish_all_srv_;
00120   ros::Subscriber subscriber_tf_;
00121 };
00122 
00123 }
00124 
00125 #endif
00126 


tf_smart_throttle
Author(s): bener
autogenerated on Thu Jan 2 2014 11:53:26