transform_storage.hpp

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#ifndef TF2__TRANSFORM_STORAGE_HPP_
#define TF2__TRANSFORM_STORAGE_HPP_
 
#include "tf2/visibility_control.h"
 
#include "tf2/LinearMath/Vector3.hpp"
#include "tf2/LinearMath/Quaternion.hpp"
#include "tf2/time.hpp"
 
namespace tf2
{
typedef uint32_t CompactFrameID;
 
class TransformStorage
{
public:
  TF2_PUBLIC
  TransformStorage();
  TF2_PUBLIC
  TransformStorage(
    const TimePoint & stamp, const Quaternion & q, const Vector3 & t, CompactFrameID frame_id,
    CompactFrameID child_frame_id);
 
  TF2_PUBLIC
  TransformStorage(const TransformStorage & rhs)
  {
    *this = rhs;
  }
 
  TF2_PUBLIC
  TransformStorage & operator=(const TransformStorage & rhs)
  {
    rotation_ = rhs.rotation_;
    translation_ = rhs.translation_;
    stamp_ = rhs.stamp_;
    frame_id_ = rhs.frame_id_;
    child_frame_id_ = rhs.child_frame_id_;
    return *this;
  }
 
  TF2_PUBLIC
  bool operator==(const TransformStorage & rhs) const
  {
    return (this->rotation_ == rhs.rotation_) &&
           (this->translation_ == rhs.translation_) &&
           (this->stamp_ == rhs.stamp_) &&
           (this->frame_id_ == rhs.frame_id_) &&
           (this->child_frame_id_ == rhs.child_frame_id_);
  }
 
  TF2_PUBLIC
  bool operator!=(const TransformStorage & rhs) const
  {
    return !(*this == rhs);
  }
 
  tf2::Quaternion rotation_;
  tf2::Vector3 translation_;
  TimePoint stamp_;
  CompactFrameID frame_id_{UINT32_MAX};
  CompactFrameID child_frame_id_{UINT32_MAX};
};
}  // namespace tf2
#endif  // TF2__TRANSFORM_STORAGE_HPP_