buffer.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_ROS_BUFFER_H
00033 #define TF2_ROS_BUFFER_H
00034 
00035 #include <tf2_ros/buffer_interface.h>
00036 #include <tf2/buffer_core.h>
00037 #include <tf2_msgs/FrameGraph.h>
00038 #include <ros/ros.h>
00039 #include <tf2/convert.h>
00040 
00041 
00042 namespace tf2_ros
00043 {
00044 
00051   class Buffer: public BufferInterface, public tf2::BufferCore
00052   {
00053   public:
00054     using tf2::BufferCore::lookupTransform;
00055     using tf2::BufferCore::canTransform;
00056 
00063     Buffer(ros::Duration cache_time = ros::Duration(BufferCore::DEFAULT_CACHE_TIME), bool debug = false);
00064 
00075     virtual geometry_msgs::TransformStamped 
00076     lookupTransform(const std::string& target_frame, const std::string& source_frame,
00077                     const ros::Time& time, const ros::Duration timeout) const;
00078 
00091     virtual geometry_msgs::TransformStamped 
00092     lookupTransform(const std::string& target_frame, const ros::Time& target_time,
00093                     const std::string& source_frame, const ros::Time& source_time,
00094                     const std::string& fixed_frame, const ros::Duration timeout) const;
00095 
00096 
00105     virtual bool
00106     canTransform(const std::string& target_frame, const std::string& source_frame, 
00107                  const ros::Time& target_time, const ros::Duration timeout, std::string* errstr = NULL) const;
00108     
00119     virtual bool
00120       canTransform(const std::string& target_frame, const ros::Time& target_time,
00121                    const std::string& source_frame, const ros::Time& source_time,
00122                    const std::string& fixed_frame, const ros::Duration timeout, std::string* errstr = NULL) const;
00123 
00124 
00125     
00126     
00127   private:
00128     bool getFrames(tf2_msgs::FrameGraph::Request& req, tf2_msgs::FrameGraph::Response& res) ;
00129 
00130 
00131     // conditionally error if dedicated_thread unset.
00132     bool checkAndErrorDedicatedThreadPresent(std::string* errstr) const;
00133 
00134     ros::ServiceServer frames_server_;
00135 
00136 
00137   }; // class 
00138 
00139 static const std::string threading_error = "Do not call canTransform or lookupTransform with a timeout unless you are using another thread for populating data. Without a dedicated thread it will always timeout.  If you have a seperate thread servicing tf messages, call setUsingDedicatedThread(true) on your Buffer instance.";
00140 
00141   
00142 } // namespace
00143 
00144 #endif // TF2_ROS_BUFFER_H


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Thu Jan 4 2018 03:35:36