buffer_interface.h
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00032 #ifndef TF2_ROS_BUFFER_INTERFACE_H
00033 #define TF2_ROS_BUFFER_INTERFACE_H
00034 
00035 #include <tf2/buffer_core.h>
00036 #include <tf2/transform_datatypes.h>
00037 #include <tf2/exceptions.h>
00038 #include <geometry_msgs/TransformStamped.h>
00039 #include <sstream>
00040 #include <tf2/convert.h>
00041 
00042 namespace tf2_ros
00043 {
00044   
00045 
00046 // extend the TFCore class and the TFCpp class
00047 class BufferInterface
00048 {
00049 public:
00050 
00061   virtual geometry_msgs::TransformStamped
00062     lookupTransform(const std::string& target_frame, const std::string& source_frame, 
00063                     const ros::Time& time, const ros::Duration timeout) const = 0;
00064 
00077   virtual geometry_msgs::TransformStamped 
00078     lookupTransform(const std::string& target_frame, const ros::Time& target_time,
00079                     const std::string& source_frame, const ros::Time& source_time,
00080                     const std::string& fixed_frame, const ros::Duration timeout) const = 0;
00081 
00082 
00091   virtual bool
00092     canTransform(const std::string& target_frame, const std::string& source_frame, 
00093                  const ros::Time& time, const ros::Duration timeout, std::string* errstr = NULL) const = 0;
00094 
00105   virtual bool
00106     canTransform(const std::string& target_frame, const ros::Time& target_time,
00107                  const std::string& source_frame, const ros::Time& source_time,
00108                  const std::string& fixed_frame, const ros::Duration timeout, std::string* errstr = NULL) const = 0;
00109 
00110   // Transform, simple api, with pre-allocation
00111   template <class T>
00112     T& transform(const T& in, T& out, 
00113                  const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
00114   {
00115     // do the transform
00116     tf2::doTransform(in, out, lookupTransform(target_frame, tf2::getFrameId(in), tf2::getTimestamp(in), timeout));
00117     return out;
00118   }
00119 
00120 
00121   // transform, simple api, no pre-allocation
00122   template <class T>
00123     T transform(const T& in, 
00124                 const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
00125   {
00126     T out;
00127     return transform(in, out, target_frame, timeout);
00128   }
00129 
00130   //transform, simple api, different types, pre-allocation
00131   template <class A, class B>
00132     B& transform(const A& in, B& out,
00133         const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
00134   {
00135     A copy = transform(in, target_frame, timeout);
00136     tf2::convert(copy, out);
00137     return out;
00138   }
00139 
00140   // Transform, advanced api, with pre-allocation
00141   template <class T>
00142     T& transform(const T& in, T& out, 
00143                  const std::string& target_frame, const ros::Time& target_time,
00144                  const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
00145   {
00146     // do the transform
00147     tf2::doTransform(in, out, lookupTransform(target_frame, target_time, 
00148                                               tf2::getFrameId(in), tf2::getTimestamp(in), 
00149                                               fixed_frame, timeout));
00150     return out;
00151   }
00152 
00153 
00154   // transform, advanced api, no pre-allocation
00155   template <class T>
00156     T transform(const T& in, 
00157                  const std::string& target_frame, const ros::Time& target_time,
00158                  const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
00159   {
00160     T out;
00161     return transform(in, out, target_frame, target_time, fixed_frame, timeout);
00162   }
00163 
00164   // Transform, advanced api, different types, with pre-allocation
00165   template <class A, class B>
00166     B& transform(const A& in, B& out, 
00167                  const std::string& target_frame, const ros::Time& target_time,
00168                  const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
00169   {
00170     // do the transform
00171     A copy = transform(in, target_frame, target_time, fixed_frame, timeout);
00172     tf2::convert(copy, out);
00173     return out;
00174   }
00175 
00176 
00177  }; // class
00178 
00179 
00180 } // namespace
00181 
00182 #endif // TF2_ROS_BUFFER_INTERFACE_H


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Thu Aug 27 2015 13:10:05