buffer_client.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef TF2_ROS_BUFFER_CLIENT_H_
00038 #define TF2_ROS_BUFFER_CLIENT_H_
00039 
00040 #include <tf2_ros/buffer_interface.h>
00041 #include <actionlib/client/simple_action_client.h>
00042 #include <tf2_msgs/LookupTransformAction.h>
00043 
00044 namespace tf2
00045 {
00046   class BufferClient : public BufferInterface
00047   {
00048     public:
00049       typedef actionlib::SimpleActionClient<tf2_msgs::LookupTransformAction> LookupActionClient;
00050 
00056       BufferClient(std::string ns, double check_frequency = 10.0, ros::Duration timeout_padding_ = ros::Duration(2.0));
00057 
00068       virtual geometry_msgs::TransformStamped
00069         lookupTransform(const std::string& target_frame, const std::string& source_frame,
00070             const ros::Time& time, const ros::Duration timeout = ros::Duration(0.0)) const;
00071 
00084       virtual geometry_msgs::TransformStamped 
00085         lookupTransform(const std::string& target_frame, const ros::Time& target_time,
00086             const std::string& source_frame, const ros::Time& source_time,
00087             const std::string& fixed_frame, const ros::Duration timeout = ros::Duration(0.0)) const;
00088 
00097       virtual bool
00098         canTransform(const std::string& target_frame, const std::string& source_frame, 
00099             const ros::Time& time, const ros::Duration timeout = ros::Duration(0.0), std::string* errstr = NULL) const;
00100 
00111       virtual bool
00112         canTransform(const std::string& target_frame, const ros::Time& target_time,
00113             const std::string& source_frame, const ros::Time& source_time,
00114             const std::string& fixed_frame, const ros::Duration timeout = ros::Duration(0.0), std::string* errstr = NULL) const;
00115 
00116       bool waitForServer(const ros::Duration& timeout = ros::Duration(0))
00117       {
00118         return client_.waitForServer(timeout);
00119       }
00120 
00121     private:
00122       geometry_msgs::TransformStamped processGoal(const tf2_msgs::LookupTransformGoal& goal) const;
00123       geometry_msgs::TransformStamped processResult(const tf2_msgs::LookupTransformResult& result) const;
00124       mutable LookupActionClient client_;
00125       double check_frequency_;
00126       ros::Duration timeout_padding_;
00127   };
00128 };
00129 #endif
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tf2_ros
Author(s): Wim Meeussen, Eitan Marder-Eppstein
autogenerated on Mon Aug 19 2013 10:27:02