tf_smart_throttle.h

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#ifndef SCENE_MANAGER_H_
#define SCENE_MANAGER_H_

#include <map>
#include <ros/ros.h>
#include <boost/thread/mutex.hpp>
#include <tf_smart_throttle/PublishAllTransforms.h>
#include <tf/transform_listener.h>
#include <XmlRpcValue.h>

namespace tf_smart_throttle {

class FramePair
{
public:
  FramePair(const std::string& source_frame, const std::string& target_frame, double translational_update_distance, double angular_update_distance) :
    source_frame_(source_frame),
    target_frame_(target_frame),
    translational_update_distance_(translational_update_distance),
    angular_update_distance_(angular_update_distance)
  {
    pose_in_ = tf::Stamped<tf::Pose>(tf::Pose(tf::createIdentityQuaternion(), tf::Vector3(0, 0, 0)), ros::Time(), source_frame_);
  }

public:
  std::string source_frame_;
  std::string target_frame_;

  tf::Stamped<tf::Pose> pose_in_;
  tf::Stamped<tf::Pose> pose_out_;
  tf::Stamped<tf::Pose> last_sent_pose_;

  double translational_update_distance_;
  double angular_update_distance_;
};

class TransformManager {
public:
  TransformManager(ros::NodeHandle& node);

  virtual ~TransformManager();

  bool publishAllTransforms(tf_smart_throttle::PublishAllTransforms::Request& req, tf_smart_throttle::PublishAllTransforms::Response& resp);

  void spin();

  void tfCallback(const tf::tfMessageConstPtr& msg_ptr);

  void publishAll();
  void publishChanged();

private:
  ros::NodeHandle node_;
  double polling_frequency_;
  double translational_update_distance_;
  double angular_update_distance_;

  boost::mutex frame_pairs_mutex_;
  std::map<std::string,FramePair> frame_pairs_;
  tf::TransformListener tfl_;
  ros::Publisher pub_;

  bool publish_all_;
  ros::ServiceServer publish_all_srv_;
  ros::Subscriber subscriber_tf_;
};

}

#endif