transform_storage.h
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00001 /*
00002  * Copyright (c) 2010, 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_STORAGE_H
00033 #define TF2_TRANSFORM_STORAGE_H
00034 
00035 #include <tf2/LinearMath/Vector3.h>
00036 #include <tf2/LinearMath/Quaternion.h>
00037 
00038 #include <ros/message_forward.h>
00039 #include <ros/time.h>
00040 #include <ros/types.h>
00041 
00042 namespace geometry_msgs
00043 {
00044 ROS_DECLARE_MESSAGE(TransformStamped);
00045 }
00046 
00047 namespace tf2
00048 {
00049 
00050 typedef uint32_t CompactFrameID;
00051 
00053 class TransformStorage
00054 {
00055 public:
00056   TransformStorage();
00057   TransformStorage(const geometry_msgs::TransformStamped& data, CompactFrameID frame_id, CompactFrameID child_frame_id);
00058 
00059   TransformStorage(const TransformStorage& rhs)
00060   {
00061     *this = rhs;
00062   }
00063 
00064   TransformStorage& operator=(const TransformStorage& rhs)
00065   {
00066 #if 01
00067     rotation_ = rhs.rotation_;
00068     translation_ = rhs.translation_;
00069     stamp_ = rhs.stamp_;
00070     frame_id_ = rhs.frame_id_;
00071     child_frame_id_ = rhs.child_frame_id_;
00072 #endif
00073     return *this;
00074   }
00075 
00076   tf2::Quaternion rotation_;
00077   tf2::Vector3 translation_;
00078   ros::Time stamp_;
00079   CompactFrameID frame_id_;
00080   CompactFrameID child_frame_id_;
00081 };
00082 
00083 }
00084 
00085 #endif // TF2_TRANSFORM_STORAGE_H
00086 


tf2
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Tue Jul 10 2018 05:46:21