tf2_ros: tf2_ros: buffer.h Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00032 #ifndef TF2_ROS_BUFFER_H
00033 #define TF2_ROS_BUFFER_H
00034 
00035 #include <tf2_ros/buffer_interface.h>
00036 #include <tf2/buffer_core.h>
00037 #include <tf2_msgs/FrameGraph.h>
00038 #include <ros/ros.h>
00039 
00040 
00041 namespace tf2
00042 {
00043 
00044   // extend the BufferInterface class and BufferCore class
00045   class Buffer: public BufferInterface, public BufferCore
00046   {
00047   public:
00048     using BufferCore::lookupTransform;
00049     using BufferCore::canTransform;
00050 
00057     Buffer(ros::Duration cache_time = ros::Duration(BufferCore::DEFAULT_CACHE_TIME), bool debug = true);
00058 
00069     virtual geometry_msgs::TransformStamped 
00070       lookupTransform(const std::string& target_frame, const std::string& source_frame,
00071                       const ros::Time& time, const ros::Duration timeout) const;
00072 
00085     virtual geometry_msgs::TransformStamped 
00086     lookupTransform(const std::string& target_frame, const ros::Time& target_time,
00087                     const std::string& source_frame, const ros::Time& source_time,
00088                     const std::string& fixed_frame, const ros::Duration timeout) const;
00089 
00090 
00099     virtual bool
00100       canTransform(const std::string& target_frame, const std::string& source_frame, 
00101                    const ros::Time& target_time, const ros::Duration timeout, std::string* errstr = NULL) const;
00102     
00113     virtual bool
00114       canTransform(const std::string& target_frame, const ros::Time& target_time,
00115                    const std::string& source_frame, const ros::Time& source_time,
00116                    const std::string& fixed_frame, const ros::Duration timeout, std::string* errstr = NULL) const;
00117 
00118   private:
00119     bool getFrames(tf2_msgs::FrameGraph::Request& req, tf2_msgs::FrameGraph::Response& res) 
00120     {
00121       res.frame_yaml = allFramesAsYAML();
00122       return true;
00123     }
00124 
00125     ros::ServiceServer frames_server_;
00126 
00127   }; // class 
00128   
00129 } // namespace
00130 
00131 #endif // TF2_ROS_BUFFER_H