/usr/include/tf2/time_cache.h is in libtf2-dev 0.5.13-5.
This file is owned by root:root, with mode 0o644.
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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 TF2_TIME_CACHE_H
#define TF2_TIME_CACHE_H
#include "transform_storage.h"
#include <list>
#include <sstream>
#include <ros/message_forward.h>
#include <ros/time.h>
#include <boost/shared_ptr.hpp>
namespace geometry_msgs
{
ROS_DECLARE_MESSAGE(TransformStamped);
}
namespace tf2
{
typedef std::pair<ros::Time, CompactFrameID> P_TimeAndFrameID;
class TimeCacheInterface
{
public:
/** \brief Access data from the cache */
virtual bool getData(ros::Time time, TransformStorage & data_out, std::string* error_str = 0)=0; //returns false if data unavailable (should be thrown as lookup exception
/** \brief Insert data into the cache */
virtual bool insertData(const TransformStorage& new_data)=0;
/** @brief Clear the list of stored values */
virtual void clearList()=0;
/** \brief Retrieve the parent at a specific time */
virtual CompactFrameID getParent(ros::Time time, std::string* error_str) = 0;
/**
* \brief Get the latest time stored in this cache, and the parent associated with it. Returns parent = 0 if no data.
*/
virtual P_TimeAndFrameID getLatestTimeAndParent() = 0;
/// Debugging information methods
/** @brief Get the length of the stored list */
virtual unsigned int getListLength()=0;
/** @brief Get the latest timestamp cached */
virtual ros::Time getLatestTimestamp()=0;
/** @brief Get the oldest timestamp cached */
virtual ros::Time getOldestTimestamp()=0;
};
typedef boost::shared_ptr<TimeCacheInterface> TimeCacheInterfacePtr;
/** \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 TimeCacheInterface
{
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));
/// Virtual methods
virtual bool getData(ros::Time time, TransformStorage & data_out, std::string* error_str = 0);
virtual bool insertData(const TransformStorage& new_data);
virtual void clearList();
virtual CompactFrameID getParent(ros::Time time, std::string* error_str);
virtual P_TimeAndFrameID getLatestTimeAndParent();
/// Debugging information methods
virtual unsigned int getListLength();
virtual ros::Time getLatestTimestamp();
virtual ros::Time getOldestTimestamp();
private:
typedef std::list<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(TransformStorage*& one, 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();
};
class StaticCache : public TimeCacheInterface
{
public:
/// Virtual methods
virtual bool getData(ros::Time time, TransformStorage & data_out, std::string* error_str = 0); //returns false if data unavailable (should be thrown as lookup exception
virtual bool insertData(const TransformStorage& new_data);
virtual void clearList();
virtual CompactFrameID getParent(ros::Time time, std::string* error_str);
virtual P_TimeAndFrameID getLatestTimeAndParent();
/// Debugging information methods
virtual unsigned int getListLength();
virtual ros::Time getLatestTimestamp();
virtual ros::Time getOldestTimestamp();
private:
TransformStorage storage_;
};
}
#endif // TF2_TIME_CACHE_H
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