time_cache.h
Go to the documentation of this file.
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 TF_TIME_CACHE_H
00033 #define TF_TIME_CACHE_H
00034 
00035 #include <set>
00036 #include <boost/thread/mutex.hpp>
00037 
00038 #include "tf/transform_datatypes.h"
00039 #include "tf/exceptions.h"
00040 
00041 #include "tf/LinearMath/Transform.h"
00042 
00043 #include <sstream>
00044 
00045 namespace tf
00046 {
00047 enum ExtrapolationMode {  ONE_VALUE, INTERPOLATE, EXTRAPOLATE_BACK, EXTRAPOLATE_FORWARD };
00048 
00049 
00050 typedef uint32_t CompactFrameID;
00051 typedef std::pair<ros::Time, CompactFrameID> P_TimeAndFrameID;
00052 
00054 class TransformStorage
00055 {
00056 public:
00057   TransformStorage();
00058   TransformStorage(const StampedTransform& data, CompactFrameID frame_id, CompactFrameID child_frame_id);
00059 
00060   TransformStorage(const TransformStorage& rhs)
00061   {
00062     *this = rhs;
00063   }
00064 
00065   TransformStorage& operator=(const TransformStorage& rhs)
00066   {
00067 #if 01
00068     rotation_ = rhs.rotation_;
00069     translation_ = rhs.translation_;
00070     stamp_ = rhs.stamp_;
00071     frame_id_ = rhs.frame_id_;
00072     child_frame_id_ = rhs.child_frame_id_;
00073 #endif
00074     return *this;
00075   }
00076 
00077   bool operator< (const TransformStorage &b) const
00078   {
00079     return this->stamp_ < b.stamp_;
00080   }
00081 
00082 
00083   tf::Quaternion rotation_;
00084   tf::Vector3 translation_;
00085   ros::Time stamp_;
00086   CompactFrameID frame_id_;
00087   CompactFrameID child_frame_id_;
00088 };
00089 
00090 
00091 
00092 
00097 class TimeCache
00098 {
00099  public:
00100   static const int MIN_INTERPOLATION_DISTANCE = 5; 
00101   static const unsigned int MAX_LENGTH_LINKED_LIST = 1000000; 
00102   static const int64_t DEFAULT_MAX_STORAGE_TIME = 1ULL * 1000000000LL; 
00103 
00104   TimeCache(ros::Duration max_storage_time = ros::Duration().fromNSec(DEFAULT_MAX_STORAGE_TIME));
00105 
00106   bool getData(ros::Time time, TransformStorage & data_out, std::string* error_str = 0);
00107   bool insertData(const TransformStorage& new_data);
00108   void clearList();
00109   CompactFrameID getParent(ros::Time time, std::string* error_str);
00110   P_TimeAndFrameID getLatestTimeAndParent();
00111 
00113   unsigned int getListLength();
00114   ros::Time getLatestTimestamp();
00115   ros::Time getOldestTimestamp();
00116 
00117 
00118 private:
00119   typedef std::set<TransformStorage> L_TransformStorage;
00120   L_TransformStorage storage_;
00121 
00122   ros::Duration max_storage_time_;
00123 
00124 
00126   //Assumes storage is already locked for it
00127   inline uint8_t findClosest(const TransformStorage*& one, const TransformStorage*& two, ros::Time target_time, std::string* error_str);
00128 
00129   inline void interpolate(const TransformStorage& one, const TransformStorage& two, ros::Time time, TransformStorage& output);
00130 
00131 
00132   void pruneList();
00133 
00134 
00135 
00136 };
00137 
00138 
00139 }
00140 #endif // TF_TIME_CACHE_H


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Wed Jan 3 2018 03:41:26