/usr/include/interactive_markers/detail/message_context.h is in libinteractive-markers-dev 1.11.3-1build2.
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* Copyright (c) 2012, 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: David Gossow
*//*
* message_context.h
*
* Created on: Jul 17, 2012
* Author: gossow
*/
#ifndef MESSAGE_CONTEXT_H_
#define MESSAGE_CONTEXT_H_
#include <tf/tf.h>
#include <visualization_msgs/InteractiveMarkerInit.h>
#include <visualization_msgs/InteractiveMarkerUpdate.h>
namespace interactive_markers
{
template<class MsgT>
class MessageContext
{
public:
MessageContext( tf::Transformer& tf,
const std::string& target_frame,
const typename MsgT::ConstPtr& msg,
bool enable_autocomplete_transparency = true);
MessageContext<MsgT>& operator=( const MessageContext<MsgT>& other );
// transform all messages with timestamp into target frame
void getTfTransforms();
typename MsgT::Ptr msg;
// return true if tf info is complete
bool isReady();
private:
void init();
bool getTransform( std_msgs::Header& header, geometry_msgs::Pose& pose_msg );
void getTfTransforms( std::vector<visualization_msgs::InteractiveMarker>& msg_vec, std::list<size_t>& indices );
void getTfTransforms( std::vector<visualization_msgs::InteractiveMarkerPose>& msg_vec, std::list<size_t>& indices );
// array indices of marker/pose updates with missing tf info
std::list<size_t> open_marker_idx_;
std::list<size_t> open_pose_idx_;
tf::Transformer& tf_;
std::string target_frame_;
bool enable_autocomplete_transparency_;
};
class InitFailException: public tf::TransformException
{
public:
InitFailException(const std::string errorDescription) : tf::TransformException(errorDescription) { ; }
};
}
#endif /* MESSAGE_CONTEXT_H_ */
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