buffer_client.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
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


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Mon Oct 2 2017 02:24:42