transform_provider.h

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/* Author: Suat Gedikli */

#ifndef MOVEIT_MESH_FILTER_TRANSFORM_PROVIDER_
#define MOVEIT_MESH_FILTER_TRANSFORM_PROVIDER_

#include <string>
#include <boost/thread/thread.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/shared_ptr.hpp>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/mesh_filter/mesh_filter_base.h>
#include <map>

namespace tf
{
  class TransformListener;
}

class TransformProvider
{
  public:
    TransformProvider (unsigned long interval_us = 30000);

    ~TransformProvider ();

    bool getTransform(mesh_filter::MeshHandle handle, Eigen::Affine3d& transform) const;

    void addHandle (mesh_filter::MeshHandle handle, const std::string& name);

    void setFrame (const std::string& frame);

    void start ();

    void stop ();

    void setUpdateInterval (unsigned long usecs);

  private:
    void updateTransforms ();

    struct TransformContext
    {
      TransformContext (const std::string& name)
      : frame_id_ (name)
      {
        transformation_.matrix().setZero ();
      }
      std::string frame_id_;
      Eigen::Affine3d transformation_;
      boost::mutex mutex_;
    };

    void run ();

    std:: map<mesh_filter::MeshHandle, boost::shared_ptr<TransformContext> > handle2context_;

    boost::shared_ptr<tf::TransformListener> tf_;

    planning_scene_monitor::PlanningSceneMonitorPtr psm_;

    std::string frame_id_;

    boost::thread thread_;

    bool stop_;

    unsigned long interval_us_;
};
#endif