transformer.h

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#ifndef TRANSFORM_UTIL_TRANSFORMER_H_
#define TRANSFORM_UTIL_TRANSFORMER_H_

#include <map>
#include <string>
#include <vector>

#include <boost/shared_ptr.hpp>

#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>

#include <swri_transform_util/transform.h>
#include <swri_transform_util/local_xy_util.h>

namespace swri_transform_util
{
  class Transformer
  {
    public:
      Transformer();
      virtual ~Transformer();

      void Initialize(const boost::shared_ptr<tf::TransformListener> tf, 
                      const boost::shared_ptr<LocalXyWgs84Util> xy_util = boost::shared_ptr<LocalXyWgs84Util>());

      virtual std::map<std::string, std::vector<std::string> > Supports() const = 0;

      virtual bool GetTransform(
        const std::string& target_frame,
        const std::string& source_frame,
        const ros::Time& time,
        Transform& transform) = 0;

    protected:
      bool initialized_;
      boost::shared_ptr<tf::TransformListener> tf_listener_;
      boost::shared_ptr<LocalXyWgs84Util> local_xy_util_;

      virtual bool Initialize();

      virtual bool GetTransform(
          const std::string& target_frame,
          const std::string& source_frame,
          const ros::Time& time,
          tf::StampedTransform& transform) const;
  };
}

#endif  // TRANSFORM_UTIL_TRANSFORMER_H_