tf2_ros: buffer_client.h Source File

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00035 * Author: Eitan Marder-Eppstein
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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_ros
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