graph.h

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#ifndef _TRANSFORM_GRAPH_GRAPH_H_
#define _TRANSFORM_GRAPH_GRAPH_H_

#include <map>
#include <string>
#include <utility>

#include "Eigen/Dense"
#include "Eigen/Geometry"

#include "transform_graph/explicit_types.h"
#include "transform_graph/graph_internal.h"
#include "transform_graph/transform.h"

namespace transform_graph {
class Graph {
 public:
  Graph();

  void Add(const std::string& name, const RefFrame& ref_frame_name,
           const Transform& transform);

  bool CanTransform(const std::string& frame1_id,
                    const std::string& frame2_id) const;

  bool ComputeDescription(const LocalFrame& local, const RefFrame& reference,
                          Transform* transform) const;

  bool ComputeMapping(const From& from, const To& to,
                      Transform* transform) const;

  bool DescribePose(const Transform& in, const Source& source_frame,
                    const Target& target_frame, Transform* out) const;

  bool MapPose(const Transform& in, const From& frame_in, const To& frame_out,
               Transform* out) const;

  bool DescribePosition(const Position& in, const Source& source_frame,
                        const Target& target_frame, Position* out) const;

  bool MapPosition(const Position& in, const From& frame_in,
                   const To& frame_out, Position* out) const;

 private:
  bool GetTransform(const std::string& source, const std::string& target,
                    Eigen::Affine3d* out) const;

  std::map<std::pair<std::string, std::string>, Transform> transforms_;
  internal::Graph graph_;
};
}  // namespace transform_graph

#endif  // _TRANSFORM_GRAPH_GRAPH_H_