Program Listing for File utm_transformer.h
↰ Return to documentation for file (/tmp/ws/src/marti_common/swri_transform_util/include/swri_transform_util/utm_transformer.h
)
// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
// 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 Southwest Research Institute® (SwRI®) 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 <COPYRIGHT HOLDER> 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 TRANSFORM_UTIL_UTM_TRANSFORMER_H_
#define TRANSFORM_UTIL_UTM_TRANSFORMER_H_
#include <map>
#include <string>
#include <vector>
#include <boost/shared_ptr.hpp>
#include <tf2/transform_datatypes.h>
#include <tf2_ros/transform_listener.h>
#include <swri_transform_util/utm_util.h>
#include <swri_transform_util/local_xy_util.h>
#include <swri_transform_util/transformer.h>
namespace swri_transform_util
{
class UtmTransformer : public Transformer
{
public:
UtmTransformer(LocalXyWgs84UtilPtr local_xy_util);
std::map<std::string, std::vector<std::string> > Supports() const override;
bool GetTransform(
const std::string& target_frame,
const std::string& source_frame,
const tf2::TimePoint& time,
Transform& transform) override;
protected:
bool Initialize() override;
std::shared_ptr<UtmUtil> utm_util_;
int32_t utm_zone_;
char utm_band_;
std::string local_xy_frame_;
};
class UtmToTfTransform : public TransformImpl, public StampedTransformStampInterface
{
public:
UtmToTfTransform(
const geometry_msgs::msg::TransformStamped& transform,
std::shared_ptr<UtmUtil> utm_util,
std::shared_ptr<LocalXyWgs84Util> local_xy_util,
int32_t utm_zone,
char utm_band);
virtual void Transform(const tf2::Vector3& v_in, tf2::Vector3& v_out) const;
virtual tf2::Quaternion GetOrientation() const;
virtual TransformImplPtr Inverse() const;
protected:
std::shared_ptr<UtmUtil> utm_util_;
std::shared_ptr<LocalXyWgs84Util> local_xy_util_;
int32_t utm_zone_;
char utm_band_;
};
class TfToUtmTransform : public TransformImpl, public StampedTransformStampInterface
{
public:
TfToUtmTransform(
const geometry_msgs::msg::TransformStamped& transform,
std::shared_ptr<UtmUtil> utm_util,
std::shared_ptr<LocalXyWgs84Util> local_xy_util,
int32_t utm_zone,
char utm_band);
virtual void Transform(const tf2::Vector3& v_in, tf2::Vector3& v_out) const;
virtual tf2::Quaternion GetOrientation() const;
virtual TransformImplPtr Inverse() const;
protected:
std::shared_ptr<UtmUtil> utm_util_;
std::shared_ptr<LocalXyWgs84Util> local_xy_util_;
int32_t utm_zone_;
char utm_band_;
};
class UtmToWgs84Transform : public TransformImpl, public Tf2StampStampInterface
{
public:
UtmToWgs84Transform(
std::shared_ptr<UtmUtil> utm_util,
int32_t utm_zone,
char utm_band);
virtual void Transform(const tf2::Vector3& v_in, tf2::Vector3& v_out) const;
virtual TransformImplPtr Inverse() const;
protected:
std::shared_ptr<UtmUtil> utm_util_;
int32_t utm_zone_;
char utm_band_;
};
class Wgs84ToUtmTransform : public TransformImpl, public Tf2StampStampInterface
{
public:
explicit Wgs84ToUtmTransform(
std::shared_ptr<UtmUtil> utm_util,
int32_t utm_zone,
char utm_band);
virtual void Transform(const tf2::Vector3& v_in, tf2::Vector3& v_out) const;
virtual TransformImplPtr Inverse() const;
protected:
std::shared_ptr<UtmUtil> utm_util_;
int32_t utm_zone_;
char utm_band_;
};
}
#endif // TRANSFORM_UTIL_UTM_TRANSFORMER_H_