transform_datatypes.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_TRANSFORM_DATATYPES_H
00033 #define TF2_TRANSFORM_DATATYPES_H
00034 
00035 #include <string>
00036 #include "ros/time.h"
00037 
00038 namespace tf2
00039 {
00040 
00043 template <typename T>
00044 class Stamped : public T{
00045  public:
00046   ros::Time stamp_; 
00047   std::string frame_id_; 
00048 
00050   Stamped() :frame_id_ ("NO_ID_STAMPED_DEFAULT_CONSTRUCTION"){}; //Default constructor used only for preallocation
00051 
00053   Stamped(const T& input, const ros::Time& timestamp, const std::string & frame_id) :
00054     T (input), stamp_ ( timestamp ), frame_id_ (frame_id){ } ;
00055   
00057   Stamped(const Stamped<T>& s):
00058     T (s),
00059     stamp_(s.stamp_),
00060     frame_id_(s.frame_id_) {}
00061   
00063   void setData(const T& input){*static_cast<T*>(this) = input;};
00064 };
00065 
00067 template <typename T> 
00068 bool operator==(const Stamped<T> &a, const Stamped<T> &b) {
00069   return a.frame_id_ == b.frame_id_ && a.stamp_ == b.stamp_ && static_cast<const T&>(a) == static_cast<const T&>(b);
00070 };
00071 
00072 
00073 }
00074 #endif //TF2_TRANSFORM_DATATYPES_H


tf2
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Thu Jan 4 2018 03:35:29