transform.h

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#ifndef TRANSFORM_UTIL_TRANSFORM_H_
#define TRANSFORM_UTIL_TRANSFORM_H_

#include <boost/shared_ptr.hpp>

#include <ros/ros.h>

#include <tf/transform_datatypes.h>

namespace swri_transform_util
{
  class TransformImpl
  {
  public:
    TransformImpl() {}
    virtual ~TransformImpl() {}

    virtual void Transform(
      const tf::Vector3& v_in, tf::Vector3& v_out) const = 0;
    
    virtual tf::Quaternion GetOrientation() const
    {
      tf::Vector3 offset;
      Transform(tf::Vector3(1, 0, 0), offset);

      tf::Vector3 origin;
      Transform(tf::Vector3(0, 0, 0), origin);

      tf::Vector3 vector = offset - origin;

      // Use the "half-way quaternion method" of summing and normalizing a
      // quaternion with twice the rotation between the vector and the x-axis and
      // the zero rotation.

      tf::Vector3 cross = tf::Vector3(1, 0, 0).cross(vector);
      double w = vector.length() + tf::Vector3(1, 0, 0).dot(vector);
      return tf::Quaternion(cross.x(), cross.y(), cross.z(), w).normalized();
    }

    virtual boost::shared_ptr<TransformImpl> Inverse() const = 0;
    
    ros::Time stamp_;
  };
  typedef boost::shared_ptr<TransformImpl> TransformImplPtr;

  class Transform
  {
  public:
    Transform();

    explicit Transform(const tf::Transform& transform);
    
    explicit Transform(const tf::StampedTransform& transform);

    explicit Transform(boost::shared_ptr<TransformImpl> transform);

    Transform& operator=(const tf::Transform transform);

    Transform& operator=(boost::shared_ptr<TransformImpl> transform);

    tf::Vector3 operator()(const tf::Vector3& v) const;

    tf::Vector3 operator*(const tf::Vector3& v) const;

    tf::Quaternion operator*(const tf::Quaternion& q) const;

    tf::Transform GetTF() const;

    Transform Inverse() const;

    tf::Vector3 GetOrigin() const;

    tf::Quaternion GetOrientation() const;
    
    ros::Time GetStamp() { return transform_->stamp_; }

  private:
    boost::shared_ptr<TransformImpl> transform_;
  };

  class IdentityTransform : public TransformImpl
  {
  public:
    IdentityTransform() { stamp_ = ros::Time::now(); }

    virtual void Transform(const tf::Vector3& v_in, tf::Vector3& v_out) const;
    virtual TransformImplPtr Inverse() const;
  };

  class TfTransform : public TransformImpl
  {
  public:
    explicit TfTransform(const tf::Transform& transform);

    explicit TfTransform(const tf::StampedTransform& transform);

    virtual void Transform(const tf::Vector3& v_in, tf::Vector3& v_out) const;

    virtual tf::Quaternion GetOrientation() const;
    virtual TransformImplPtr Inverse() const;

  protected:
    tf::Transform transform_;
  };
}

#endif  // TRANSFORM_UTIL_TRANSFORM_H_