buffer_interface.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef TF2_ROS_BUFFER_INTERFACE_H
#define TF2_ROS_BUFFER_INTERFACE_H

#include <tf2/buffer_core.h>
#include <tf2/transform_datatypes.h>
#include <tf2/exceptions.h>
#include <geometry_msgs/TransformStamped.h>
#include <sstream>

namespace tf2
{
  
template <class T>
  void doTransform(const T& data_in, T& data_out, const geometry_msgs::TransformStamped& transform);

template <class T>
  const ros::Time& getTimestamp(const T& t);

template <class T>
  const std::string& getFrameId(const T& t);



/* An implementation for Stamped<P> datatypes */
template <class P>
  const ros::Time& getTimestamp(const tf2::Stamped<P>& t)
  {
    return t.stamp_;
  }

/* An implementation for Stamped<P> datatypes */
template <class P>
  const std::string& getFrameId(const tf2::Stamped<P>& t)
  {
    return t.frame_id_;
  }

template <class A, class B>
  void convert(const A& a, B& b)
  {
    //printf("In double type convert\n");
    fromMsg(toMsg(a), b);
  }

template <class A>
  void convert(const A& a1, A& a2)
  {
    //printf("In single type convert\n");
    if(&a1 != &a2)
      a2 = a1;
  }

// extend the TFCore class and the TFCpp class
class BufferInterface
{
public:

  virtual geometry_msgs::TransformStamped
    lookupTransform(const std::string& target_frame, const std::string& source_frame, 
                    const ros::Time& time, const ros::Duration timeout) const = 0;

  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) const = 0;


  virtual bool
    canTransform(const std::string& target_frame, const std::string& source_frame, 
                 const ros::Time& time, const ros::Duration timeout, std::string* errstr = NULL) const = 0;

  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, std::string* errstr = NULL) const = 0;

  // Transform, simple api, with pre-allocation
  template <class T>
    T& transform(const T& in, T& out, 
                 const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    // do the transform
    doTransform(in, out, lookupTransform(target_frame, getFrameId(in), getTimestamp(in), timeout));
    return out;
  }


  // transform, simple api, no pre-allocation
  template <class T>
    T transform(const T& in, 
                const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    T out;
    return transform(in, out, target_frame, timeout);
  }

  //transform, simple api, different types, pre-allocation
  template <class A, class B>
    B& transform(const A& in, B& out,
        const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    A copy = transform(in, target_frame, timeout);
    convert(copy, out);
    return out;
  }

  // Transform, advanced api, with pre-allocation
  template <class T>
    T& transform(const T& in, T& out, 
                 const std::string& target_frame, const ros::Time& target_time,
                 const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    // do the transform
    doTransform(in, out, lookupTransform(target_frame, target_time, 
                                             getFrameId(in), getTimestamp(in), 
                                             fixed_frame, timeout));
    return out;
  }


  // transform, simple api, no pre-allocation
  template <class T>
    T& transform(const T& in, 
                 const std::string& target_frame, const ros::Time& target_time,
                 const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    T out;
    return transform(in, out, target_frame, target_time, fixed_frame, timeout);
  }

  // Transform, advanced api, different types, with pre-allocation
  template <class A, class B>
    B& transform(const A& in, B& out, 
                 const std::string& target_frame, const ros::Time& target_time,
                 const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    // do the transform
    A copy = transform(in, target_frame, target_time, fixed_frame, timeout);
    convert(copy, out);
    return out;
  }


 }; // class


} // namespace

#endif // TF2_ROS_BUFFER_INTERFACE_H