utm_transformer.h

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#ifndef TRANSFORM_UTIL_UTM_TRANSFORMER_H_
#define TRANSFORM_UTIL_UTM_TRANSFORMER_H_

#include <map>
#include <string>
#include <vector>

#include <boost/shared_ptr.hpp>

#include <tf/transform_datatypes.h>
#include <tf/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();

      virtual std::map<std::string, std::vector<std::string> > Supports() const;


      virtual bool GetTransform(
        const std::string& target_frame,
        const std::string& source_frame,
        const ros::Time& time,
        Transform& transform);

    protected:
      virtual bool Initialize();

      boost::shared_ptr<UtmUtil> utm_util_;
      boost::shared_ptr<LocalXyWgs84Util> local_xy_util_;

      int32_t utm_zone_;
      char utm_band_;
      std::string local_xy_frame_;
  };


  class UtmToTfTransform : public TransformImpl
  {
  public:
    UtmToTfTransform(
      const tf::StampedTransform& transform,
      boost::shared_ptr<UtmUtil> utm_util,
      boost::shared_ptr<LocalXyWgs84Util> local_xy_util,
      int32_t utm_zone,
      char utm_band);

    virtual void Transform(const tf::Vector3& v_in, tf::Vector3& v_out) const;

    virtual tf::Quaternion GetOrientation() const;
    virtual TransformImplPtr Inverse() const;

  protected:
    tf::StampedTransform transform_;
    boost::shared_ptr<UtmUtil> utm_util_;
    boost::shared_ptr<LocalXyWgs84Util> local_xy_util_;
    int32_t utm_zone_;
    char utm_band_;
  };


  class TfToUtmTransform : public TransformImpl
  {
  public:
    TfToUtmTransform(
      const tf::StampedTransform& transform,
      boost::shared_ptr<UtmUtil> utm_util,
      boost::shared_ptr<LocalXyWgs84Util> local_xy_util,
      int32_t utm_zone,
      char utm_band);

    virtual void Transform(const tf::Vector3& v_in, tf::Vector3& v_out) const;

    virtual tf::Quaternion GetOrientation() const;
    virtual TransformImplPtr Inverse() const;

  protected:
    tf::StampedTransform transform_;
    boost::shared_ptr<UtmUtil> utm_util_;
    boost::shared_ptr<LocalXyWgs84Util> local_xy_util_;
    int32_t utm_zone_;
    char    utm_band_;
  };


  class UtmToWgs84Transform : public TransformImpl
  {
  public:
    UtmToWgs84Transform(
        boost::shared_ptr<UtmUtil> utm_util,
        int32_t utm_zone,
        char utm_band);

    virtual void Transform(const tf::Vector3& v_in, tf::Vector3& v_out) const;
    virtual TransformImplPtr Inverse() const;

  protected:
    boost::shared_ptr<UtmUtil> utm_util_;
    int32_t utm_zone_;
    char    utm_band_;
  };

  class Wgs84ToUtmTransform : public TransformImpl
  {
  public:
    explicit Wgs84ToUtmTransform(
        boost::shared_ptr<UtmUtil> utm_util,
        int32_t utm_zone,
        char utm_band);

    virtual void Transform(const tf::Vector3& v_in, tf::Vector3& v_out) const;
    virtual TransformImplPtr Inverse() const;

  protected:
    boost::shared_ptr<UtmUtil> utm_util_;
    int32_t utm_zone_;
    char    utm_band_;
  };
}

#endif  // TRANSFORM_UTIL_UTM_TRANSFORMER_H_