buffer_interface.h
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00032 #ifndef TF2_ROS_BUFFER_INTERFACE_H
00033 #define TF2_ROS_BUFFER_INTERFACE_H
00034 
00035 #include <tf2/buffer_core.h>
00036 #include <tf2/transform_datatypes.h>
00037 #include <tf2/exceptions.h>
00038 #include <geometry_msgs/TransformStamped.h>
00039 #include <sstream>
00040 #include <tf2/convert.h>
00041 
00042 namespace tf2_ros
00043 {
00044 
00048 class BufferInterface
00049 {
00050 public:
00051 
00062   virtual geometry_msgs::TransformStamped
00063     lookupTransform(const std::string& target_frame, const std::string& source_frame, 
00064                     const ros::Time& time, const ros::Duration timeout) const = 0;
00065 
00078   virtual geometry_msgs::TransformStamped 
00079     lookupTransform(const std::string& target_frame, const ros::Time& target_time,
00080                     const std::string& source_frame, const ros::Time& source_time,
00081                     const std::string& fixed_frame, const ros::Duration timeout) const = 0;
00082 
00083 
00092   virtual bool
00093     canTransform(const std::string& target_frame, const std::string& source_frame, 
00094                  const ros::Time& time, const ros::Duration timeout, std::string* errstr = NULL) const = 0;
00095 
00106   virtual bool
00107     canTransform(const std::string& target_frame, const ros::Time& target_time,
00108                  const std::string& source_frame, const ros::Time& source_time,
00109                  const std::string& fixed_frame, const ros::Duration timeout, std::string* errstr = NULL) const = 0;
00110 
00122   template <class T>
00123     T& transform(const T& in, T& out, 
00124                  const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
00125   {
00126     // do the transform
00127     tf2::doTransform(in, out, lookupTransform(target_frame, tf2::getFrameId(in), tf2::getTimestamp(in), timeout));
00128     return out;
00129   }
00130 
00142   template <class T>
00143     T transform(const T& in,
00144                 const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
00145   {
00146     T out;
00147     return transform(in, out, target_frame, timeout);
00148   }
00149 
00167   template <class A, class B>
00168     B& transform(const A& in, B& out,
00169         const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
00170   {
00171     A copy = transform(in, target_frame, timeout);
00172     tf2::convert(copy, out);
00173     return out;
00174   }
00175 
00191   template <class T>
00192     T& transform(const T& in, T& out, 
00193                  const std::string& target_frame, const ros::Time& target_time,
00194                  const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
00195   {
00196     // do the transform
00197     tf2::doTransform(in, out, lookupTransform(target_frame, target_time, 
00198                                               tf2::getFrameId(in), tf2::getTimestamp(in), 
00199                                               fixed_frame, timeout));
00200     return out;
00201   }
00202 
00203 
00219   template <class T>
00220     T transform(const T& in, 
00221                  const std::string& target_frame, const ros::Time& target_time,
00222                  const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
00223   {
00224     T out;
00225     return transform(in, out, target_frame, target_time, fixed_frame, timeout);
00226   }
00227 
00228 
00250   template <class A, class B>
00251     B& transform(const A& in, B& out, 
00252                  const std::string& target_frame, const ros::Time& target_time,
00253                  const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
00254   {
00255     // do the transform
00256     A copy = transform(in, target_frame, target_time, fixed_frame, timeout);
00257     tf2::convert(copy, out);
00258     return out;
00259   }
00260 
00261 
00262  }; // class
00263 
00264 
00265 } // namespace
00266 
00267 #endif // TF2_ROS_BUFFER_INTERFACE_H


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Thu Jun 6 2019 20:23:00