transform_collection.h

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/*
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#ifndef WAREHOUSE_ROS_TF_COLLECTION_H
#define WAREHOUSE_ROS_TF_COLLECTION_H

#include <warehouse_ros/message_collection.h>
#include <tf/transform_listener.h>
#include <tf/tfMessage.h>

namespace warehouse_ros
{

class TransformSource
{
public:
  virtual tf::StampedTransform lookupTransform(const std::string& target_frame, const std::string& source_frame,
                                               double t) const = 0;
};

class TransformCollection : public TransformSource
{
public:
  TransformCollection(MessageCollection<tf::tfMessage> &coll, const double search_back = 10.0,
                      const double search_forward = 1.0) :
      TransformSource(), coll_(coll), search_back_(search_back), search_forward_(search_forward)
  {
  }

  virtual tf::StampedTransform lookupTransform(const std::string& target_frame, const std::string& source_frame,
                                               double t) const;

  void putTransform(tf::StampedTransform);

private:
  MessageCollection<tf::tfMessage> coll_;
  double search_back_;
  double search_forward_;
};

class LiveTransformSource : public TransformSource
{
public:
  LiveTransformSource(double timeout = 0) :
      TransformSource(), tf_(new tf::TransformListener()), timeout_(timeout)
  {
  }

  virtual tf::StampedTransform lookupTransform(const std::string& target, const std::string& source, double t) const
  {
    ros::Time tm(t);
    tf_->waitForTransform(target, source, tm, ros::Duration(timeout_));
    tf::StampedTransform trans;
    tf_->lookupTransform(target, source, tm, trans); // Can throw
    return trans;
  }

private:
  ros::NodeHandle nh_;
  boost::shared_ptr<tf::TransformListener> tf_;
  ros::Duration timeout_;
};

} // namespace

#endif // include guard