transform_provider.h
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00034 
00035 /* Author: Suat Gedikli */
00036 
00037 #ifndef MOVEIT_MESH_FILTER_TRANSFORM_PROVIDER_
00038 #define MOVEIT_MESH_FILTER_TRANSFORM_PROVIDER_
00039 
00040 #include <string>
00041 #include <boost/thread/thread.hpp>
00042 #include <boost/thread/mutex.hpp>
00043 #include <boost/shared_ptr.hpp>
00044 #include <moveit/macros/class_forward.h>
00045 #include <moveit/planning_scene_monitor/planning_scene_monitor.h>
00046 #include <moveit/mesh_filter/mesh_filter_base.h>
00047 #include <map>
00048 
00049 namespace tf
00050 {
00051 class TransformListener;
00052 }
00053 
00058 class TransformProvider
00059 {
00060 public:
00066   TransformProvider(unsigned long interval_us = 30000);
00067 
00069   ~TransformProvider();
00070 
00078   bool getTransform(mesh_filter::MeshHandle handle, Eigen::Affine3d& transform) const;
00079 
00086   void addHandle(mesh_filter::MeshHandle handle, const std::string& name);
00087 
00093   void setFrame(const std::string& frame);
00094 
00099   void start();
00100 
00105   void stop();
00106 
00114   void setUpdateInterval(unsigned long usecs);
00115 
00116 private:
00122   void updateTransforms();
00123 
00124   MOVEIT_CLASS_FORWARD(TransformContext);
00125 
00130   struct TransformContext
00131   {
00132     TransformContext(const std::string& name) : frame_id_(name)
00133     {
00134       transformation_.matrix().setZero();
00135     }
00136     std::string frame_id_;
00137     Eigen::Affine3d transformation_;
00138     boost::mutex mutex_;
00139   };
00140 
00145   void run();
00146 
00148   std::map<mesh_filter::MeshHandle, TransformContextPtr> handle2context_;
00149 
00151   boost::shared_ptr<tf::TransformListener> tf_;
00152 
00154   planning_scene_monitor::PlanningSceneMonitorPtr psm_;
00155 
00157   std::string frame_id_;
00158 
00160   boost::thread thread_;
00161 
00163   bool stop_;
00164 
00166   unsigned long interval_us_;
00167 };
00168 #endif


perception
Author(s): Ioan Sucan , Jon Binney , Suat Gedikli
autogenerated on Wed Jan 17 2018 03:32:02