/usr/include/tf/time_cache.h is in libtf-dev 1.11.8-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* 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 OWNER 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.
*/
/** \author Tully Foote */
#ifndef TF_TIME_CACHE_H
#define TF_TIME_CACHE_H
#include <set>
#include <boost/thread/mutex.hpp>
#include "tf/transform_datatypes.h"
#include "tf/exceptions.h"
#include "tf/LinearMath/Transform.h"
#include <sstream>
namespace tf
{
enum ExtrapolationMode { ONE_VALUE, INTERPOLATE, EXTRAPOLATE_BACK, EXTRAPOLATE_FORWARD };
typedef uint32_t CompactFrameID;
typedef std::pair<ros::Time, CompactFrameID> P_TimeAndFrameID;
/** \brief Storage for transforms and their parent */
class TransformStorage
{
public:
TransformStorage();
TransformStorage(const StampedTransform& 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;
}
bool operator< (const TransformStorage &b) const
{
return this->stamp_ < b.stamp_;
}
tf::Quaternion rotation_;
tf::Vector3 translation_;
ros::Time stamp_;
CompactFrameID frame_id_;
CompactFrameID child_frame_id_;
};
/** \brief A class to keep a sorted linked list in time
* This builds and maintains a list of timestamped
* data. And provides lookup functions to get
* data out as a function of time. */
class TimeCache
{
public:
static const int MIN_INTERPOLATION_DISTANCE = 5; //!< Number of nano-seconds to not interpolate below.
static const unsigned int MAX_LENGTH_LINKED_LIST = 1000000; //!< Maximum length of linked list, to make sure not to be able to use unlimited memory.
static const int64_t DEFAULT_MAX_STORAGE_TIME = 1ULL * 1000000000LL; //!< default value of 10 seconds storage
TimeCache(ros::Duration max_storage_time = ros::Duration().fromNSec(DEFAULT_MAX_STORAGE_TIME));
bool getData(ros::Time time, TransformStorage & data_out, std::string* error_str = 0);
bool insertData(const TransformStorage& new_data);
void clearList();
CompactFrameID getParent(ros::Time time, std::string* error_str);
P_TimeAndFrameID getLatestTimeAndParent();
/// Debugging information methods
unsigned int getListLength();
ros::Time getLatestTimestamp();
ros::Time getOldestTimestamp();
private:
typedef std::set<TransformStorage> L_TransformStorage;
L_TransformStorage storage_;
ros::Duration max_storage_time_;
/// A helper function for getData
//Assumes storage is already locked for it
inline uint8_t findClosest(const TransformStorage*& one, const TransformStorage*& two, ros::Time target_time, std::string* error_str);
inline void interpolate(const TransformStorage& one, const TransformStorage& two, ros::Time time, TransformStorage& output);
void pruneList();
};
}
#endif // TF_TIME_CACHE_H
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