transform_collection.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
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00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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00029  */
00030 
00039 #ifndef MONGO_ROS_TF_COLLECTION_H
00040 #define MONGO_ROS_TF_COLLECTION_H
00041 
00042 #include <mongo_ros/message_collection.h>
00043 #include <tf/transform_listener.h>
00044 #include <tf/tfMessage.h>
00045 
00046 namespace mongo_ros
00047 {
00048 
00051 class TransformSource
00052 {
00053 public:
00054 
00057   virtual tf::StampedTransform lookupTransform (const std::string& target_frame,
00058                                                 const std::string& source_frame,
00059                                                 double t) const = 0;
00060 };
00061 
00069 class TransformCollection : public TransformSource
00070 {
00071 public:
00072   TransformCollection (const std::string& db,
00073                        const std::string& coll="tf",
00074                        const std::string& host="localhost",
00075                        const unsigned port=27017,
00076                        const double history_length=10.0) :
00077     TransformSource(),
00078     coll_(db, coll, host, port), history_length_(history_length)
00079   {}
00080 
00083   virtual
00084   tf::StampedTransform lookupTransform (const std::string& target_frame,
00085                                         const std::string& source_frame,
00086                                         double t) const;
00087     
00088 
00089 private:
00090   
00092   mongo::Query transformQuery (double t) const;
00093 
00094   MessageCollection<tf::tfMessage> coll_;
00095   double history_length_;
00096 
00097 };
00098 
00099 
00102 class LiveTransformSource : public TransformSource
00103 {
00104 public:
00105   
00109   LiveTransformSource (double timeout = 0) :
00110     TransformSource(), tf_(new tf::TransformListener()), timeout_(timeout)
00111   {}
00112   
00115   virtual
00116   tf::StampedTransform lookupTransform (const std::string& target,
00117                                         const std::string& source,
00118                                         double t) const;
00119   
00120 private:
00121 
00122   ros::NodeHandle nh_;
00123   boost::shared_ptr<tf::TransformListener> tf_;
00124   ros::Duration timeout_;
00125 };
00126 
00127 } // namespace
00128 
00129 #endif // include guard


warehouse_ros
Author(s): Bhaskara Marthi
autogenerated on Fri Apr 22 2016 04:08:50