transformer_manager.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
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#ifndef RVE_TRANSFORMER_TRANSFORMER_MANAGER_H
#define RVE_TRANSFORMER_TRANSFORMER_MANAGER_H

#include <rve_properties/forwards.h>
#include <rve_common/uuid.h>

#include <vector>
#include <string>

#include <ros/node_handle.h>
namespace ros
{
class CallbackQueue;
}

namespace rve_transformer
{
class Transformer;
typedef boost::shared_ptr<Transformer> TransformerPtr;
class FrameManager;
typedef boost::shared_ptr<FrameManager> FrameManagerPtr;

class TransformerManager
{
public:
  TransformerManager(ros::NodeHandle nh = ros::NodeHandle());
  ~TransformerManager();

  FrameManagerPtr getFrameManager() { return frame_manager_; }
  void update();

  template<typename T>
  boost::shared_ptr<T> createTransformer()
  {
    return createTransformer<T>(rve_common::UUID::generate(), rve_properties::PropertyNodePtr());
  }

  template<typename T>
  boost::shared_ptr<T> createTransformer(const rve_properties::PropertyNodePtr& props)
  {
    return createTransformer<T>(rve_common::UUID::generate(), props);
  }

  template<typename T>
  boost::shared_ptr<T> createTransformer(const rve_common::UUID& id, const rve_properties::PropertyNodePtr& props)
  {
    boost::shared_ptr<T> t(new T);
    addTransformer(t, id, props);
    return t;
  }

private:
  void addTransformer(const TransformerPtr& t, const rve_common::UUID& id, const rve_properties::PropertyNodePtr& props);

  FrameManagerPtr frame_manager_;

  struct TransformerInfo
  {
    rve_common::UUID id;
    TransformerPtr transformer;
  };
  typedef std::vector<TransformerInfo> V_TransformerInfo;
  V_TransformerInfo transformers_;

  ros::CallbackQueue* cb_queue_;
};
typedef boost::shared_ptr<TransformerManager> TransformerManagerPtr;

} // namespace rve_transformer

#endif // RVE_TRANSFORMER_TRANSFORMER_MANAGER_H