buffer_server.h
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35 * Author: Eitan Marder-Eppstein
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37 #ifndef TF2_ROS_BUFFER_SERVER_H_
38 #define TF2_ROS_BUFFER_SERVER_H_
39 
41 #include <tf2_msgs/LookupTransformAction.h>
42 #include <geometry_msgs/TransformStamped.h>
43 #include <tf2_ros/buffer.h>
44 
45 namespace tf2_ros
46 {
53  {
54  private:
57 
58  struct GoalInfo
59  {
60  GoalHandle handle;
62  };
63 
64  public:
71  BufferServer(const Buffer& buffer, const std::string& ns,
72  bool auto_start = true, ros::Duration check_period = ros::Duration(0.01));
73 
76  void start();
77 
78  private:
79  void goalCB(GoalHandle gh);
80  void cancelCB(GoalHandle gh);
81  void checkTransforms(const ros::TimerEvent& e);
82  bool canTransform(GoalHandle gh);
83  geometry_msgs::TransformStamped lookupTransform(GoalHandle gh);
84 
85  const Buffer& buffer_;
86  LookupTransformServer server_;
87  std::list<GoalInfo> active_goals_;
88  boost::mutex mutex_;
90  };
91 }
92 #endif
void checkTransforms(const ros::TimerEvent &e)
actionlib::ActionServer< tf2_msgs::LookupTransformAction > LookupTransformServer
Definition: buffer_server.h:55
Standard implementation of the tf2_ros::BufferInterface abstract data type.
Definition: buffer.h:51
Action server for the actionlib-based implementation of tf2_ros::BufferInterface. ...
Definition: buffer_server.h:52
bool canTransform(GoalHandle gh)
LookupTransformServer server_
Definition: buffer_server.h:86
geometry_msgs::TransformStamped lookupTransform(GoalHandle gh)
const Buffer & buffer_
Definition: buffer_server.h:85
Definition: buffer.h:42
void goalCB(GoalHandle gh)
void start()
Start the action server.
BufferServer(const Buffer &buffer, const std::string &ns, bool auto_start=true, ros::Duration check_period=ros::Duration(0.01))
Constructor.
LookupTransformServer::GoalHandle GoalHandle
Definition: buffer_server.h:56
std::list< GoalInfo > active_goals_
Definition: buffer_server.h:87
void cancelCB(GoalHandle gh)


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Thu Aug 27 2020 03:15:01