buffer_interface.h

Go to the documentation of this file.

/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * 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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef TF2_ROS_BUFFER_INTERFACE_H
#define TF2_ROS_BUFFER_INTERFACE_H

#include <tf2/buffer_core.h>
#include <tf2/transform_datatypes.h>
#include <tf2/exceptions.h>
#include <geometry_msgs/TransformStamped.h>
#include <sstream>
#include <tf2/convert.h>

namespace tf2_ros
{
  

// extend the TFCore class and the TFCpp class
class BufferInterface
{
public:

  virtual geometry_msgs::TransformStamped
    lookupTransform(const std::string& target_frame, const std::string& source_frame, 
                    const ros::Time& time, const ros::Duration timeout) const = 0;

  virtual geometry_msgs::TransformStamped 
    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, const ros::Duration timeout) const = 0;


  virtual bool
    canTransform(const std::string& target_frame, const std::string& source_frame, 
                 const ros::Time& time, const ros::Duration timeout, std::string* errstr = NULL) const = 0;

  virtual 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, const ros::Duration timeout, std::string* errstr = NULL) const = 0;

  // Transform, simple api, with pre-allocation
  template <class T>
    T& transform(const T& in, T& out, 
                 const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    // do the transform
    tf2::doTransform(in, out, lookupTransform(target_frame, tf2::getFrameId(in), tf2::getTimestamp(in), timeout));
    return out;
  }


  // transform, simple api, no pre-allocation
  template <class T>
    T transform(const T& in, 
                const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    T out;
    return transform(in, out, target_frame, timeout);
  }

  //transform, simple api, different types, pre-allocation
  template <class A, class B>
    B& transform(const A& in, B& out,
        const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    A copy = transform(in, target_frame, timeout);
    tf2::convert(copy, out);
    return out;
  }

  // Transform, advanced api, with pre-allocation
  template <class T>
    T& transform(const T& in, T& out, 
                 const std::string& target_frame, const ros::Time& target_time,
                 const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    // do the transform
    tf2::doTransform(in, out, lookupTransform(target_frame, target_time, 
                                              tf2::getFrameId(in), tf2::getTimestamp(in), 
                                              fixed_frame, timeout));
    return out;
  }


  // transform, advanced api, no pre-allocation
  template <class T>
    T transform(const T& in, 
                 const std::string& target_frame, const ros::Time& target_time,
                 const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    T out;
    return transform(in, out, target_frame, target_time, fixed_frame, timeout);
  }

  // Transform, advanced api, different types, with pre-allocation
  template <class A, class B>
    B& transform(const A& in, B& out, 
                 const std::string& target_frame, const ros::Time& target_time,
                 const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
  {
    // do the transform
    A copy = transform(in, target_frame, target_time, fixed_frame, timeout);
    tf2::convert(copy, out);
    return out;
  }


 }; // class


} // namespace

#endif // TF2_ROS_BUFFER_INTERFACE_H