Fawkes API  Fawkes Development Version
transform_storage.h
1 /***************************************************************************
2  * transform_storage.h - Fawkes tf transform storage (based on ROS tf/tf2)
3  *
4  * Created: Thu Oct 20 11:09:58 2011
5  * Copyright 2011-2015 Tim Niemueller [www.niemueller.de]
6  ****************************************************************************/
7 
8 /* This program is free software; you can redistribute it and/or modify
9  * it under the terms of the GNU General Public License as published by
10  * the Free Software Foundation; either version 2 of the License, or
11  * (at your option) any later version. A runtime exception applies to
12  * this software (see LICENSE.GPL_WRE file mentioned below for details).
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
20  */
21 
22 /* This code is based on ROS tf with the following copyright and license:
23  *
24  * Copyright (c) 2010, Willow Garage, Inc.
25  * All rights reserved.
26  *
27  * Redistribution and use in source and binary forms, with or without
28  * modification, are permitted provided that the following conditions are met:
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35  * * Neither the name of the Willow Garage, Inc. nor the names of its
36  * contributors may be used to endorse or promote products derived from
37  * this software without specific prior written permission.
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50  */
51 
52 #ifndef __LIBS_TF_TRANSFORM_STORAGE_H_
53 #define __LIBS_TF_TRANSFORM_STORAGE_H_
54 
55 #include <tf/types.h>
56 
57 #include <list>
58 
59 namespace fawkes {
60  namespace tf {
61 #if 0 /* just to make Emacs auto-indent happy */
62  }
63 }
64 #endif
65 
67 {
68  public:
70  TransformStorage(const StampedTransform& data, CompactFrameID frame_id,
71  CompactFrameID child_frame_id);
72 
73  /** Copy constructor.
74  * @param rhs storage to copy
75  */
77  {
78  *this = rhs;
79  }
80 
82  {
83  rotation = rhs.rotation;
85  stamp = rhs.stamp;
86  frame_id = rhs.frame_id;
87  child_frame_id = rhs.child_frame_id;
88  return *this;
89  }
90 
91  Quaternion rotation; ///< rotation quaternion
92  Vector3 translation; ///< translation vector
93  fawkes::Time stamp; ///< time stamp
94  CompactFrameID frame_id; ///< parent/reference frame number
95  CompactFrameID child_frame_id; ///< child frame number
96 };
97 
98 } // end namespace tf
99 } // end namespace fawkes
100 
101 #endif
TransformStorage & operator=(const TransformStorage &rhs)
Assignment operator.
Fawkes library namespace.
Storage for transforms and their parent.
A class for handling time.
Definition: time.h:91
CompactFrameID child_frame_id
child frame number
TransformStorage(const TransformStorage &rhs)
Copy constructor.
CompactFrameID frame_id
parent/reference frame number
Transform that contains a timestamp and frame IDs.
Definition: types.h:96
Quaternion rotation
rotation quaternion
Vector3 translation
translation vector
fawkes::Time stamp
time stamp
TransformStorage()
Constructor.
Definition: time_cache.cpp:73