/usr/include/tf2_ros/buffer_interface.h is in libtf2-ros-dev 0.5.13-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 | /*
* 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 Wim Meeussen */
#ifndef TF2_ROS_BUFFER_INTERFACE_H
#define TF2_ROS_BUFFER_INTERFACE_H
#include <tf2/buffer_core.h>
#include <tf2/transform_datatypes.h>
#include <tf2/exceptions.h>
#include <geometry_msgs/TransformStamped.h>
#include <sstream>
#include <tf2/convert.h>
namespace tf2_ros
{
// extend the TFCore class and the TFCpp class
class BufferInterface
{
public:
/** \brief Get the transform between two frames by frame ID.
* \param target_frame The frame to which data should be transformed
* \param source_frame The frame where the data originated
* \param time The time at which the value of the transform is desired. (0 will get the latest)
* \param timeout How long to block before failing
* \return The transform between the frames
*
* Possible exceptions tf2::LookupException, tf2::ConnectivityException,
* tf2::ExtrapolationException, tf2::InvalidArgumentException
*/
virtual geometry_msgs::TransformStamped
lookupTransform(const std::string& target_frame, const std::string& source_frame,
const ros::Time& time, const ros::Duration timeout) const = 0;
/** \brief Get the transform between two frames by frame ID assuming fixed frame.
* \param target_frame The frame to which data should be transformed
* \param target_time The time to which the data should be transformed. (0 will get the latest)
* \param source_frame The frame where the data originated
* \param source_time The time at which the source_frame should be evaluated. (0 will get the latest)
* \param fixed_frame The frame in which to assume the transform is constant in time.
* \param timeout How long to block before failing
* \return The transform between the frames
*
* Possible exceptions tf2::LookupException, tf2::ConnectivityException,
* tf2::ExtrapolationException, tf2::InvalidArgumentException
*/
virtual geometry_msgs::TransformStamped
lookupTransform(const std::string& target_frame, const ros::Time& target_time,
const std::string& source_frame, const ros::Time& source_time,
const std::string& fixed_frame, const ros::Duration timeout) const = 0;
/** \brief Test if a transform is possible
* \param target_frame The frame into which to transform
* \param source_frame The frame from which to transform
* \param time The time at which to transform
* \param timeout How long to block before failing
* \param errstr A pointer to a string which will be filled with why the transform failed, if not NULL
* \return True if the transform is possible, false otherwise
*/
virtual bool
canTransform(const std::string& target_frame, const std::string& source_frame,
const ros::Time& time, const ros::Duration timeout, std::string* errstr = NULL) const = 0;
/** \brief Test if a transform is possible
* \param target_frame The frame into which to transform
* \param target_time The time into which to transform
* \param source_frame The frame from which to transform
* \param source_time The time from which to transform
* \param fixed_frame The frame in which to treat the transform as constant in time
* \param timeout How long to block before failing
* \param errstr A pointer to a string which will be filled with why the transform failed, if not NULL
* \return True if the transform is possible, false otherwise
*/
virtual bool
canTransform(const std::string& target_frame, const ros::Time& target_time,
const std::string& source_frame, const ros::Time& source_time,
const std::string& fixed_frame, const ros::Duration timeout, std::string* errstr = NULL) const = 0;
// Transform, simple api, with pre-allocation
template <class T>
T& transform(const T& in, T& out,
const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
{
// do the transform
tf2::doTransform(in, out, lookupTransform(target_frame, tf2::getFrameId(in), tf2::getTimestamp(in), timeout));
return out;
}
// transform, simple api, no pre-allocation
template <class T>
T transform(const T& in,
const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
{
T out;
return transform(in, out, target_frame, timeout);
}
//transform, simple api, different types, pre-allocation
template <class A, class B>
B& transform(const A& in, B& out,
const std::string& target_frame, ros::Duration timeout=ros::Duration(0.0)) const
{
A copy = transform(in, target_frame, timeout);
tf2::convert(copy, out);
return out;
}
// Transform, advanced api, with pre-allocation
template <class T>
T& transform(const T& in, T& out,
const std::string& target_frame, const ros::Time& target_time,
const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
{
// do the transform
tf2::doTransform(in, out, lookupTransform(target_frame, target_time,
tf2::getFrameId(in), tf2::getTimestamp(in),
fixed_frame, timeout));
return out;
}
// transform, advanced api, no pre-allocation
template <class T>
T transform(const T& in,
const std::string& target_frame, const ros::Time& target_time,
const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
{
T out;
return transform(in, out, target_frame, target_time, fixed_frame, timeout);
}
// Transform, advanced api, different types, with pre-allocation
template <class A, class B>
B& transform(const A& in, B& out,
const std::string& target_frame, const ros::Time& target_time,
const std::string& fixed_frame, ros::Duration timeout=ros::Duration(0.0)) const
{
// do the transform
A copy = transform(in, target_frame, target_time, fixed_frame, timeout);
tf2::convert(copy, out);
return out;
}
}; // class
} // namespace
#endif // TF2_ROS_BUFFER_INTERFACE_H
|