transform_provider.h

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/* Author: Suat Gedikli */

#ifndef MOVEIT_MESH_FILTER_TRANSFORM_PROVIDER_
#define MOVEIT_MESH_FILTER_TRANSFORM_PROVIDER_

#include <string>
#include <boost/thread/thread.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/shared_ptr.hpp>
#include <moveit/macros/class_forward.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/mesh_filter/mesh_filter_base.h>
#include <map>

namespace tf
{
class TransformListener;
}

class TransformProvider
{
public:
  TransformProvider(unsigned long interval_us = 30000);

  ~TransformProvider();

  bool getTransform(mesh_filter::MeshHandle handle, Eigen::Affine3d& transform) const;

  void addHandle(mesh_filter::MeshHandle handle, const std::string& name);

  void setFrame(const std::string& frame);

  void start();

  void stop();

  void setUpdateInterval(unsigned long usecs);

private:
  void updateTransforms();

  MOVEIT_CLASS_FORWARD(TransformContext);

  struct TransformContext
  {
    TransformContext(const std::string& name) : frame_id_(name)
    {
      transformation_.matrix().setZero();
    }
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    std::string frame_id_;
    Eigen::Affine3d transformation_;
    boost::mutex mutex_;
  };

  void run();

  std::map<mesh_filter::MeshHandle, TransformContextPtr> handle2context_;

  boost::shared_ptr<tf::TransformListener> tf_;

  planning_scene_monitor::PlanningSceneMonitorPtr psm_;

  std::string frame_id_;

  boost::thread thread_;

  bool stop_;

  unsigned long interval_us_;
};
#endif