.. _program_listing_file__tmp_ws_src_warehouse_ros_include_warehouse_ros_transform_collection.h:

Program Listing for File transform_collection.h
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_warehouse_ros_include_warehouse_ros_transform_collection.h>` (``/tmp/ws/src/warehouse_ros/include/warehouse_ros/transform_collection.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2008 Willow Garage, Inc.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the Willow Garage, Inc. nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   #ifndef WAREHOUSE_ROS_TF_COLLECTION_H
   #define WAREHOUSE_ROS_TF_COLLECTION_H
   
   #include <warehouse_ros/message_collection.h>
   #include <tf2_ros/transform_listener.h>
   #include <tf2_msgs/msg/tf_message.hpp>
   #include <geometry_msgs/msg/transform_stamped.hpp>
   // TODO(v4hn): remove after EOL galactic
   #if __has_include(<tf2_geometry_msgs/tf2_geometry_msgs.hpp>)
   #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
   #else
   #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
   #endif
   #include <tf2_ros/buffer.h>
   
   namespace warehouse_ros
   {
   class TransformSource
   {
   public:
     virtual geometry_msgs::msg::TransformStamped lookupTransform(const std::string& target_frame,
                                                                  const std::string& source_frame, double t) const = 0;
   };
   
   class TransformCollection : public TransformSource
   {
   public:
     TransformCollection(MessageCollection<tf2_msgs::msg::TFMessage>& coll, const double search_back = 10.0,
                         const double search_forward = 1.0)
       : TransformSource(), coll_(coll), search_back_(search_back), search_forward_(search_forward)
     {
       node_ = rclcpp::Node::make_shared("TransformCollection");
       rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
       tf_buffer_ = std::make_shared<tf2_ros::Buffer>(clock);
     }
   
     geometry_msgs::msg::TransformStamped lookupTransform(const std::string& target_frame, const std::string& source_frame,
                                                          double t) const override;
   
     void putTransform(geometry_msgs::msg::TransformStamped);
   
   private:
     MessageCollection<tf2_msgs::msg::TFMessage> coll_;
     rclcpp::Node::SharedPtr node_;
     std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
     double search_back_;
     double search_forward_;
   };
   
   class LiveTransformSource : public TransformSource
   {
   public:
     LiveTransformSource(double timeout = 0) : TransformSource()
     {
       timeout_ = tf2::durationFromSec(timeout);
   
       node_ = rclcpp::Node::make_shared("LiveTransformSource");
       rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
       tf_buffer_ = std::make_shared<tf2_ros::Buffer>(clock);
       tf_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_, node_, false);
     }
   
     geometry_msgs::msg::TransformStamped lookupTransform(const std::string& target, const std::string& source,
                                                          double t) const override
     {
       tf2::TimePoint tm = tf2::timeFromSec(t);
       geometry_msgs::msg::TransformStamped trans =
           tf_buffer_->lookupTransform(target, source, tm, timeout_);  // Can throw
       return trans;
     }
   
   private:
     rclcpp::Node::SharedPtr node_;
     std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
     std::shared_ptr<tf2_ros::TransformListener> tf_;
     tf2::Duration timeout_;
   };
   
   }  // namespace warehouse_ros
   
   #endif  // include guard