transformer_manager.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <rve_transformer/transformer_manager.h>
#include <rve_transformer/transformer.h>
#include <rve_transformer/frame_manager.h>
#include <rve_properties/property_node.h>

#include <ros/callback_queue.h>

namespace rve_transformer
{

TransformerManager::TransformerManager(ros::NodeHandle nh)
{
  cb_queue_ = new ros::CallbackQueue();

  nh.setCallbackQueue(cb_queue_);
  frame_manager_ = FrameManagerPtr(new FrameManager(nh));
}

TransformerManager::~TransformerManager()
{
  delete cb_queue_;
}

void TransformerManager::update()
{
  cb_queue_->callAvailable();

  V_TransformerInfo::iterator it = transformers_.begin();
  V_TransformerInfo::iterator end = transformers_.end();
  for (; it != end; ++it)
  {
    TransformerInfo& info = *it;
    info.transformer->update();
  }
}

void TransformerManager::addTransformer(const TransformerPtr& t, const rve_common::UUID& id, const rve_properties::PropertyNodePtr& _props)
{
  rve_properties::PropertyNodePtr props = _props;
  if (!props)
  {
    props.reset(new rve_properties::PropertyNode);
  }
  t->init(this, props);

  TransformerInfo info;
  info.transformer = t;
  info.id = id;
  transformers_.push_back(info);
}

} // namespace rve_transformer