transform_relay.h

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#ifndef TF2_RELAY_TRANSFORM_RELAY_H
#define TF2_RELAY_TRANSFORM_RELAY_H

#include "ros/ros.h"
#include "tf2_msgs/TFMessage.h"

#include "message_relay/processor/frame_id_processor.h"

#include <boost/unordered_map.hpp>

#include <string>
#include <utility>

namespace tf2_relay
{

class TransformRelay
{
public:
  TransformRelay(ros::NodeHandle origin, ros::NodeHandle target, double frequency, bool is_static,
                 message_relay::FrameIdProcessor::ConstPtr frame_id_processor);

private:
  void transformCb(const tf2_msgs::TFMessageConstPtr &transforms);

  void relayCb();

  typedef std::pair<std::string, std::string> FrameIdPair;

  void processTransform(const geometry_msgs::TransformStamped &new_tf);

  ros::NodeHandle origin_, target_;
  ros::Timer relay_timer_;
  message_relay::FrameIdProcessor::ConstPtr frame_id_processor_;

  ros::Publisher tf_publisher_;
  ros::Subscriber tf_subscriber_;

  tf2_msgs::TFMessage transform_cache_;
  boost::unordered_map<FrameIdPair, std::size_t> transform_cache_index_map_;
};

}  // namespace tf2_relay

#endif  // TF2_RELAY_TRANSFORM_RELAY_H