tf_help.cpp

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#include <nav_2d_utils/tf_help.h>
#include <nav_2d_msgs/Pose2DStamped.h>
#include <nav_2d_utils/conversions.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <string>
 
namespace nav_2d_utils
{
bool transformPose(const TFListenerPtr tf, const std::string frame,
                   const geometry_msgs::PoseStamped& in_pose, geometry_msgs::PoseStamped& out_pose,
                   const bool extrapolation_fallback)
{
  if (in_pose.header.frame_id == frame)
  {
    out_pose = in_pose;
    return true;
  }
 
  try
  {
    tf->transform(in_pose, out_pose, frame);
    return true;
  }
  catch (tf::ExtrapolationException& ex)
  {
    if (!extrapolation_fallback)
      throw;
    geometry_msgs::PoseStamped latest_in_pose;
    latest_in_pose.header.frame_id = in_pose.header.frame_id;
    latest_in_pose.pose = in_pose.pose;
    tf->transform(latest_in_pose, out_pose, frame);
    return true;
  }
  catch (tf::TransformException& ex)
  {
    ROS_ERROR("Exception in transformPose: %s", ex.what());
    return false;
  }
  return false;
}
 
bool transformPose(const TFListenerPtr tf, const std::string frame,
                   const nav_2d_msgs::Pose2DStamped& in_pose, nav_2d_msgs::Pose2DStamped& out_pose,
                   const bool extrapolation_fallback)
{
  geometry_msgs::PoseStamped in_3d_pose = pose2DToPoseStamped(in_pose);
  geometry_msgs::PoseStamped out_3d_pose;
 
  bool ret = transformPose(tf, frame, in_3d_pose, out_3d_pose, extrapolation_fallback);
  if (ret)
  {
    out_pose = poseStampedToPose2D(out_3d_pose);
  }
  return ret;
}
 
geometry_msgs::Pose2D transformStampedPose(const TFListenerPtr tf, const nav_2d_msgs::Pose2DStamped& pose,
                                           const std::string& frame_id)
{
  nav_2d_msgs::Pose2DStamped local_pose;
  nav_2d_utils::transformPose(tf, frame_id, pose, local_pose);
  return local_pose.pose;
}
 
}  // namespace nav_2d_utils