.. _program_listing_file__tmp_ws_src_interactive_markers_include_interactive_markers_message_context.hpp:

Program Listing for File message_context.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_interactive_markers_include_interactive_markers_message_context.hpp>` (``/tmp/ws/src/interactive_markers/include/interactive_markers/message_context.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2012, Willow Garage, Inc.
   // Copyright (c) 2019, Open Source Robotics Foundation, Inc.
   //
   // 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 copyright holder 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 HOLDER 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.
   
   // Author: David Gossow
   
   #ifndef INTERACTIVE_MARKERS__MESSAGE_CONTEXT_HPP_
   #define INTERACTIVE_MARKERS__MESSAGE_CONTEXT_HPP_
   
   #include <list>
   #include <memory>
   #include <string>
   #include <vector>
   
   #include "visualization_msgs/msg/interactive_marker_init.hpp"
   #include "visualization_msgs/msg/interactive_marker_update.hpp"
   
   namespace tf2
   {
   class BufferCoreInterface;
   }
   
   namespace interactive_markers
   {
   
   template<class MsgT>
   class MessageContext
   {
   public:
     MessageContext(
       std::shared_ptr<tf2::BufferCoreInterface> tf_buffer_core,
       const std::string & target_frame,
       typename MsgT::ConstSharedPtr msg,
       bool enable_autocomplete_transparency = true);
   
     MessageContext(const MessageContext &) = default;
   
     MessageContext<MsgT> & operator=(const MessageContext<MsgT> & other);
   
     // transform all messages with timestamp into target frame
     void getTfTransforms();
   
     typename MsgT::SharedPtr msg;
   
     // return true if tf info is complete
     bool isReady();
   
   private:
     void init();
   
     bool getTransform(std_msgs::msg::Header & header, geometry_msgs::msg::Pose & pose_msg);
   
     void getTfTransforms(
       std::vector<visualization_msgs::msg::InteractiveMarker> & msg_vec,
       std::list<size_t> & indices);
     void getTfTransforms(
       std::vector<visualization_msgs::msg::InteractiveMarkerPose> & msg_vec,
       std::list<size_t> & indices);
   
     // array indices of marker/pose updates with missing tf info
     std::list<size_t> open_marker_idx_;
     std::list<size_t> open_pose_idx_;
     std::shared_ptr<tf2::BufferCoreInterface> tf_buffer_core_;
     std::string target_frame_;
     bool enable_autocomplete_transparency_;
   };  // class MessageContext
   
   }  // namespace interactive_markers
   
   #endif  // INTERACTIVE_MARKERS__MESSAGE_CONTEXT_HPP_