tf_bridge.h
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1 /*
2  * Copyright 2016 The Cartographer Authors
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 #ifndef CARTOGRAPHER_ROS_TF_BRIDGE_H_
18 #define CARTOGRAPHER_ROS_TF_BRIDGE_H_
19 
20 #include <memory>
21 
23 #include "tf2_ros/buffer.h"
24 
26 
27 namespace cartographer_ros {
28 
29 class TfBridge {
30  public:
31  TfBridge(const string& tracking_frame, double lookup_transform_timeout_sec,
32  const tf2_ros::Buffer* buffer);
33  ~TfBridge() {}
34 
35  TfBridge(const TfBridge&) = delete;
36  TfBridge& operator=(const TfBridge&) = delete;
37 
38  // Returns the transform for 'frame_id' to 'tracking_frame_' if it exists at
39  // 'time'.
40  std::unique_ptr<::cartographer::transform::Rigid3d> LookupToTracking(
41  ::cartographer::common::Time time, const string& frame_id) const;
42 
43  private:
44  const string tracking_frame_;
46  const tf2_ros::Buffer* const buffer_;
47 };
48 
49 } // namespace cartographer_ros
50 
51 #endif // CARTOGRAPHER_ROS_TF_BRIDGE_H_
TfBridge & operator=(const TfBridge &)=delete
const tf2_ros::Buffer *const buffer_
Definition: tf_bridge.h:46
std::unique_ptr<::cartographer::transform::Rigid3d > LookupToTracking(::cartographer::common::Time time, const string &frame_id) const
Definition: tf_bridge.cc:31
const common::Time time
TfBridge(const string &tracking_frame, double lookup_transform_timeout_sec, const tf2_ros::Buffer *buffer)
Definition: tf_bridge.cc:24
UniversalTimeScaleClock::time_point Time
const string tracking_frame_
Definition: tf_bridge.h:44
const double lookup_transform_timeout_sec_
Definition: tf_bridge.h:45


cartographer_ros
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autogenerated on Mon Jun 10 2019 12:59:40