Fawkes API  Fawkes Development Version
utils.h
00001 
00002 /***************************************************************************
00003  *  utils.h - Fawkes tf utils
00004  *
00005  *  Created: Fri Jun  1 14:07:00 2012
00006  *  Copyright  2012  Tim Niemueller [www.niemueller.de]
00007  ****************************************************************************/
00008 
00009 /*  This program is free software; you can redistribute it and/or modify
00010  *  it under the terms of the GNU General Public License as published by
00011  *  the Free Software Foundation; either version 2 of the License, or
00012  *  (at your option) any later version. A runtime exception applies to
00013  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00021  */
00022 
00023 /* This code is based on ROS tf with the following copyright and license:
00024  *
00025  * Copyright (c) 2008, Willow Garage, Inc.
00026  * All rights reserved.
00027  * 
00028  * Redistribution and use in source and binary forms, with or without
00029  * modification, are permitted provided that the following conditions are met:
00030  * 
00031  *     * Redistributions of source code must retain the above copyright
00032  *       notice, this list of conditions and the following disclaimer.
00033  *     * Redistributions in binary form must reproduce the above copyright
00034  *       notice, this list of conditions and the following disclaimer in the
00035  *       documentation and/or other materials provided with the distribution.
00036  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00037  *       contributors may be used to endorse or promote products derived from
00038  *       this software without specific prior written permission.
00039  * 
00040  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00041  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00042  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00043  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00044  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00045  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00046  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00047  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00048  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00049  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00050  * POSSIBILITY OF SUCH DAMAGE.
00051  */
00052 
00053 #ifndef __LIBS_TF_TF_H_
00054 #define __LIBS_TF_TF_H_
00055 
00056 #include <tf/types.h>
00057 
00058 namespace fawkes {
00059   namespace tf {
00060 #if 0 /* just to make Emacs auto-indent happy */
00061   }
00062 }
00063 #endif
00064 
00065 /** Resolve transform name.
00066  * @param prefix prefix to prepend to frame name
00067  * @param frame_name frame name
00068  * @return resolved frame name
00069  */
00070 std::string
00071 resolve(const std::string& prefix, const std::string& frame_name)
00072 {
00073   if (frame_name.size() > 0) {
00074     if (frame_name[0] == '/') {
00075       return frame_name;
00076     }
00077   }
00078   if (prefix.size() > 0) {
00079     if (prefix[0] == '/') {
00080       std::string composite = prefix;
00081       composite.append("/");
00082       composite.append(frame_name);
00083       return composite;
00084     } else {
00085       std::string composite;
00086       composite = "/";
00087       composite.append(prefix);
00088       composite.append("/");
00089       composite.append(frame_name);
00090       return composite;
00091     }
00092   } else {
00093     std::string composite;
00094     composite = "/";
00095     composite.append(frame_name);
00096     return composite;
00097   }
00098 }
00099 
00100 } // end namespace tf
00101 } // end namespace fawkes
00102 
00103 #endif