transform_storage.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef TF2_TRANSFORM_STORAGE_H
#define TF2_TRANSFORM_STORAGE_H
 
#include <tf2/LinearMath/Vector3.h>
#include <tf2/LinearMath/Quaternion.h>
 
#include <ros/message_forward.h>
#include <ros/time.h>
#include <ros/types.h>
 
namespace geometry_msgs
{
ROS_DECLARE_MESSAGE(TransformStamped)
}
 
namespace tf2
{
 
typedef uint32_t CompactFrameID;
 
class TransformStorage
{
public:
  TransformStorage();
  TransformStorage(const geometry_msgs::TransformStamped& data, CompactFrameID frame_id, CompactFrameID child_frame_id);
 
  TransformStorage(const TransformStorage& rhs)
  {
    *this = rhs;
  }
 
  TransformStorage& operator=(const TransformStorage& rhs)
  {
#if 01
    rotation_ = rhs.rotation_;
    translation_ = rhs.translation_;
    stamp_ = rhs.stamp_;
    frame_id_ = rhs.frame_id_;
    child_frame_id_ = rhs.child_frame_id_;
#endif
    return *this;
  }
 
  tf2::Quaternion rotation_;
  tf2::Vector3 translation_;
  ros::Time stamp_;
  CompactFrameID frame_id_;
  CompactFrameID child_frame_id_;
};
 
}
 
#endif // TF2_TRANSFORM_STORAGE_H