/usr/include/tf2_ros/buffer_interface.h is in libtf2-ros-dev 0.5.12-2.
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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 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
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