tf2_ros: buffer_client.h Source File

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00035 * Author: Eitan Marder-Eppstein
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00037 #ifndef TF2_ROS_BUFFER_CLIENT_H_
00038 #define TF2_ROS_BUFFER_CLIENT_H_
00039 
00040 #include <tf2_ros/buffer_interface.h>
00041 #include <actionlib/client/simple_action_client.h>
00042 #include <tf2_msgs/LookupTransformAction.h>
00043 
00044 namespace tf2_ros
00045 {
00052   class BufferClient : public BufferInterface
00053   {
00054     public:
00055       typedef actionlib::SimpleActionClient<tf2_msgs::LookupTransformAction> LookupActionClient;
00056 
00062       BufferClient(std::string ns, double check_frequency = 10.0, ros::Duration timeout_padding = ros::Duration(2.0));
00063 
00074       virtual geometry_msgs::TransformStamped
00075         lookupTransform(const std::string& target_frame, const std::string& source_frame,
00076             const ros::Time& time, const ros::Duration timeout = ros::Duration(0.0)) const;
00077 
00090       virtual geometry_msgs::TransformStamped 
00091         lookupTransform(const std::string& target_frame, const ros::Time& target_time,
00092             const std::string& source_frame, const ros::Time& source_time,
00093             const std::string& fixed_frame, const ros::Duration timeout = ros::Duration(0.0)) const;
00094 
00103       virtual bool
00104         canTransform(const std::string& target_frame, const std::string& source_frame, 
00105             const ros::Time& time, const ros::Duration timeout = ros::Duration(0.0), std::string* errstr = NULL) const;
00106 
00117       virtual bool
00118         canTransform(const std::string& target_frame, const ros::Time& target_time,
00119             const std::string& source_frame, const ros::Time& source_time,
00120             const std::string& fixed_frame, const ros::Duration timeout = ros::Duration(0.0), std::string* errstr = NULL) const;
00121 
00126       bool waitForServer(const ros::Duration& timeout = ros::Duration(0))
00127       {
00128         return client_.waitForServer(timeout);
00129       }
00130 
00131     private:
00132       geometry_msgs::TransformStamped processGoal(const tf2_msgs::LookupTransformGoal& goal) const;
00133       geometry_msgs::TransformStamped processResult(const tf2_msgs::LookupTransformResult& result) const;
00134       mutable LookupActionClient client_;
00135       double check_frequency_;
00136       ros::Duration timeout_padding_;
00137   };
00138 };
00139 #endif