transform_manager.h

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#ifndef TRANSFORM_UTIL_TRANSFORM_MANAGER_H_
#define TRANSFORM_UTIL_TRANSFORM_MANAGER_H_

#include <map>
#include <string>

#include <boost/make_shared.hpp>
#include <boost/shared_ptr.hpp>

#include <tf/transform_datatypes.h>
#include <tf/transform_listener.h>

#include <swri_transform_util/local_xy_util.h>
#include <swri_transform_util/transform.h>
#include <swri_transform_util/transformer.h>

namespace swri_transform_util
{
  typedef std::map<std::string, boost::shared_ptr<Transformer> > TransformerMap;
  typedef std::map<std::string, TransformerMap> SourceTargetMap;

  class TransformManager
  {
  public:
    TransformManager();
    ~TransformManager();

    void Initialize(boost::shared_ptr<tf::TransformListener> tf
        = boost::make_shared<tf::TransformListener>());

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

    bool GetTransform(
        const std::string& target_frame,
        const std::string& source_frame,
        Transform& transform) const;

    bool SupportsTransform(
        const std::string& target_frame,
        const std::string& source_frame) const;

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

    bool GetTransform(
        const std::string& target_frame,
        const std::string& source_frame,
        tf::StampedTransform& transform) const;

    bool GetTransform(
        const std::string& target_frame,
        const std::string& source_frame,
        const ros::Time& time,
        const ros::Duration& timeout,
        tf::StampedTransform& transform) const;

    bool GetTransform(
        const std::string& target_frame,
        const std::string& source_frame,
        const ros::Duration& timeout,
        tf::StampedTransform& transform) const;

    const LocalXyWgs84UtilPtr& LocalXyUtil() const;

  private:
    boost::shared_ptr<tf::TransformListener> tf_listener_;

    LocalXyWgs84UtilPtr local_xy_util_;

    SourceTargetMap transformers_;
  };
  typedef boost::shared_ptr<TransformManager> TransformManagerPtr;
}

#endif  // TRANSFORM_UTIL_TRANSFORM_MANAGER_H_