tf.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
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 * 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
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#ifndef TF_TF_H
#define TF_TF_H

#include <iostream>
#include <iomanip>
#include <cmath>
#include <vector>
#include <sstream>
#include <map>

#include <tf/exceptions.h>
#include "tf/time_cache.h"
#include <boost/thread/recursive_mutex.hpp>
#include <boost/unordered_map.hpp>
#include <boost/signals.hpp>
#include "geometry_msgs/TwistStamped.h"

namespace tf
{
std::string resolve(const std::string& prefix, const std::string& frame_name);

__attribute__((deprecated)) static inline std::string remap(const std::string& prefix, const std::string& frame_name) { return tf::resolve(prefix, frame_name);} ;

enum ErrorValues { NO_ERROR = 0, LOOKUP_ERROR, CONNECTIVITY_ERROR, EXTRAPOLATION_ERROR};

typedef struct
{
  std::vector<TransformStorage > inverseTransforms;
  std::vector<TransformStorage > forwardTransforms;
} TransformLists;

class Transformer
{
public:
  /************* Constants ***********************/
  static const unsigned int MAX_GRAPH_DEPTH = 100UL;   
  static const double DEFAULT_CACHE_TIME;  
  static const int64_t DEFAULT_MAX_EXTRAPOLATION_DISTANCE = 0ULL; 


  Transformer(bool interpolating = true,
              ros::Duration cache_time_ = ros::Duration(DEFAULT_CACHE_TIME));
  virtual ~Transformer(void);

  void clear();

  bool setTransform(const StampedTransform& transform, const std::string & authority = "default_authority");

  /*********** Accessors *************/

  void lookupTransform(const std::string& target_frame, const std::string& source_frame,
                       const ros::Time& time, StampedTransform& transform) const;
  void lookupTransform(const std::string& target_frame, const ros::Time& target_time,
                       const std::string& source_frame, const ros::Time& source_time,
                       const std::string& fixed_frame, StampedTransform& transform) const;

  void lookupTwist(const std::string& tracking_frame, const std::string& observation_frame, const std::string& reference_frame,
                   const tf::Point & reference_point, const std::string& reference_point_frame, 
                   const ros::Time& time, const ros::Duration& averaging_interval, 
                   geometry_msgs::Twist& twist) const;

  void lookupTwist(const std::string& tracking_frame, const std::string& observation_frame, 
                   const ros::Time& time, const ros::Duration& averaging_interval,
                   geometry_msgs::Twist& twist) const;

  bool waitForTransform(const std::string& target_frame, const std::string& source_frame,
                        const ros::Time& time, const ros::Duration& timeout, const ros::Duration& polling_sleep_duration = ros::Duration(0.01),
                        std::string* error_msg = NULL) const;
  bool canTransform(const std::string& target_frame, const std::string& source_frame,
                    const ros::Time& time,
                    std::string* error_msg = NULL) const;

  bool canTransform(const std::string& target_frame, const ros::Time& target_time,
                    const std::string& source_frame, const ros::Time& source_time,
                    const std::string& fixed_frame,
                    std::string* error_msg = NULL) const;

  bool waitForTransform(const std::string& target_frame, const ros::Time& target_time,
                    const std::string& source_frame, const ros::Time& source_time,
                    const std::string& fixed_frame,
                    const ros::Duration& timeout, const ros::Duration& polling_sleep_duration = ros::Duration(0.01),
                    std::string* error_msg = NULL) const;

  int getLatestCommonTime(const std::string &source_frame, const std::string &target_frame, ros::Time& time, std::string* error_string) const;

  void transformQuaternion(const std::string& target_frame, const Stamped<tf::Quaternion>& stamped_in, Stamped<tf::Quaternion>& stamped_out) const;
  void transformVector(const std::string& target_frame, const Stamped<tf::Vector3>& stamped_in, Stamped<tf::Vector3>& stamped_out) const;
  void transformPoint(const std::string& target_frame, const Stamped<tf::Point>& stamped_in, Stamped<tf::Point>& stamped_out) const;
  void transformPose(const std::string& target_frame, const Stamped<tf::Pose>& stamped_in, Stamped<tf::Pose>& stamped_out) const;

  void transformQuaternion(const std::string& target_frame, const ros::Time& target_time,
                           const Stamped<tf::Quaternion>& stamped_in,
                           const std::string& fixed_frame,
                           Stamped<tf::Quaternion>& stamped_out) const;
  void transformVector(const std::string& target_frame, const ros::Time& target_time,
                       const Stamped<tf::Vector3>& stamped_in,
                       const std::string& fixed_frame,
                       Stamped<tf::Vector3>& stamped_out) const;
  void transformPoint(const std::string& target_frame, const ros::Time& target_time,
                      const Stamped<tf::Point>& stamped_in,
                      const std::string& fixed_frame,
                      Stamped<tf::Point>& stamped_out) const;
  void transformPose(const std::string& target_frame, const ros::Time& target_time,
                     const Stamped<tf::Pose>& stamped_in,
                     const std::string& fixed_frame,
                     Stamped<tf::Pose>& stamped_out) const;

  //std::string chainAsString(const std::string & target_frame, ros::Time target_time, const std::string & source_frame, ros::Time source_time, const std::string & fixed_frame) const;

  void chainAsVector(const std::string & target_frame, ros::Time target_time, const std::string & source_frame, ros::Time source_time, const std::string & fixed_frame, std::vector<std::string>& output) const;

  std::string allFramesAsString() const;

  std::string allFramesAsDot() const;

  void getFrameStrings(std::vector<std::string>& ids) const;

  bool getParent(const std::string& frame_id, ros::Time time, std::string& parent) const;

  bool frameExists(const std::string& frame_id_str) const;

  void setExtrapolationLimit(const ros::Duration& distance);

  ros::Duration getCacheLength() { return cache_time;}

  boost::signals::connection addTransformsChangedListener(boost::function<void(void)> callback);
  void removeTransformsChangedListener(boost::signals::connection c);

  std::string getTFPrefix() const { return tf_prefix_;};

  //Declare that it is safe to call waitForTransform
  void setUsingDedicatedThread(bool value) { using_dedicated_thread_ = value;};
  // Get the state of using_dedicated_thread_
  bool isUsingDedicatedThread() { return using_dedicated_thread_;};

protected:

  /******************** Internal Storage ****************/

  typedef boost::unordered_map<std::string, CompactFrameID> M_StringToCompactFrameID;
  M_StringToCompactFrameID frameIDs_;
  std::vector<std::string> frameIDs_reverse;
  std::map<CompactFrameID, std::string> frame_authority_;

  ros::Duration cache_time_;

  std::vector<TimeCache*> frames_;

  mutable boost::recursive_mutex frame_mutex_;

  ros::Duration cache_time;

  bool interpolating;

  ros::Duration max_extrapolation_distance_;


  std::string tf_prefix_;

  typedef boost::signal<void(void)> TransformsChangedSignal;
  TransformsChangedSignal transforms_changed_;
  boost::mutex transforms_changed_mutex_;

  //Whether it is safe to use waitForTransform.  This is basically stating that tf is multithreaded.  
  bool using_dedicated_thread_;
  
 public:
  // A flag to allow falling back to wall time
  bool fall_back_to_wall_time_;
  
 protected:
  ros::Time now() const { 
    if (!fall_back_to_wall_time_) 
      return ros::Time::now() ; 
    else {
      ros::WallTime wt = ros::WallTime::now();
      return ros::Time(wt.sec, wt.nsec);
    };
  }

  // Allows broadcaster to check ok() before wait for transform
  // Always returns true in base class 
  virtual bool ok() const;
   
  /************************* Internal Functions ****************************/

  TimeCache* getFrame(unsigned int frame_number) const;

  CompactFrameID lookupFrameNumber(const std::string& frameid_str) const
  {
    unsigned int retval = 0;
    boost::recursive_mutex::scoped_lock(frame_mutex_);
    M_StringToCompactFrameID::const_iterator map_it = frameIDs_.find(frameid_str);
    if (map_it == frameIDs_.end())
    {
      std::stringstream ss;
      ss << "Frame id " << frameid_str << " does not exist! Frames (" << frameIDs_.size() << "): " << allFramesAsString();
      throw tf::LookupException(ss.str());
    }
    else
      retval = map_it->second;
    return retval;
  };

  CompactFrameID lookupOrInsertFrameNumber(const std::string& frameid_str)
  {
    unsigned int retval = 0;
    boost::recursive_mutex::scoped_lock(frame_mutex_);
    M_StringToCompactFrameID::iterator map_it = frameIDs_.find(frameid_str);
    if (map_it == frameIDs_.end())
    {
      retval = frames_.size();
      frameIDs_[frameid_str] = retval;
      frames_.push_back( new TimeCache(cache_time));
      frameIDs_reverse.push_back(frameid_str);
    }
    else
      retval = frameIDs_[frameid_str];
    return retval;
  };
  std::string lookupFrameString(unsigned int frame_id_num) const
  {
    if (frame_id_num >= frameIDs_reverse.size())
    {
      std::stringstream ss;
      ss << "Reverse lookup of frame id " << frame_id_num << " failed!";
      throw LookupException(ss.str());
    }
    else
      return frameIDs_reverse[frame_id_num];

  };

  /*
  bool test_extrapolation_one_value(const ros::Time& target_time, const TransformStorage& tr, std::string* error_string) const;
  bool test_extrapolation_past(const ros::Time& target_time, const TransformStorage& tr, std::string* error_string) const;
  bool test_extrapolation_future(const ros::Time& target_time, const TransformStorage& tr, std::string* error_string) const;
  bool test_extrapolation(const ros::Time& target_time, const TransformLists& t_lists, std::string * error_string) const;
        */

 private:
  int getLatestCommonTime(CompactFrameID target_frame, CompactFrameID source_frame, ros::Time& time, std::string* error_string) const;

  template<typename F>
  int walkToTopParent(F& f, ros::Time time, CompactFrameID target_id, CompactFrameID source_id, std::string* error_string) const;

  bool canTransformInternal(CompactFrameID target_id, CompactFrameID source_id,
                    const ros::Time& time, std::string* error_msg) const;
  bool canTransformNoLock(CompactFrameID target_id, CompactFrameID source_id,
                      const ros::Time& time, std::string* error_msg) const;

  void createConnectivityErrorString(CompactFrameID source_frame, CompactFrameID target_frame, std::string* out) const;
};


inline void assertQuaternionValid(const tf::Quaternion & q)
{
  if(std::fabs(q.x()*q.x() + q.y()*q.y() + q.z()*q.z() + q.w()*q.w() - 1) > 0.01)
  {
    std::stringstream ss;
    ss << "Quaternion malformed, magnitude: " << q.x()*q.x() + q.y()*q.y() + q.z()*q.z() + q.w()*q.w() << " should be 1.0" <<std::endl;
    throw tf::InvalidArgument(ss.str());
  }  //  ROS_ASSERT(std::fabs(q.x()*q.x() + q.y()*q.y() + q.z*q.z() + q.w()*q.w() - 1 < 0.01));
};

inline void assertQuaternionValid(const geometry_msgs::Quaternion & q)
{
  if(std::fabs(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w - 1) > 0.01)
  {
    std::stringstream ss;
    ss << "Quaternion malformed, magnitude: " << q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w << " should be 1.0" <<std::endl;
    throw tf::InvalidArgument(ss.str());
  }  //  ROS_ASSERT(std::fabs(q.x()*q.x() + q.y()*q.y() + q.z*q.z() + q.w()*q.w() - 1 < 0.01));
};
}
#endif //TF_TF_H