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:
29 *
30 * * Redistributions of source code must retain the above copyright
31 * notice, this list of conditions and the following disclaimer.
32 * * Redistributions in binary form must reproduce the above copyright
33 * notice, this list of conditions and the following disclaimer in the
34 * documentation and/or other materials provided with the distribution.
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.
38 *
39 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
40 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
41 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
42 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
43 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
44 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
45 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
46 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
47 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
48 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
49 * POSSIBILITY OF SUCH DAMAGE.
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
59namespace fawkes {
60namespace tf {
61
63{
64public:
67 CompactFrameID frame_id,
68 CompactFrameID child_frame_id);
69
70 /** Copy constructor.
71 * @param rhs storage to copy
72 */
74 {
75 *this = rhs;
76 }
77
80 {
81 rotation = rhs.rotation;
83 stamp = rhs.stamp;
84 frame_id = rhs.frame_id;
86 return *this;
87 }
88
89 Quaternion rotation; ///< rotation quaternion
90 Vector3 translation; ///< translation vector
91 fawkes::Time stamp; ///< time stamp
92 CompactFrameID frame_id; ///< parent/reference frame number
93 CompactFrameID child_frame_id; ///< child frame number
94};
95
96} // end namespace tf
97} // end namespace fawkes
98
99#endif
A class for handling time.
Definition: time.h:93
Transform that contains a timestamp and frame IDs.
Definition: types.h:92
Storage for transforms and their parent.
CompactFrameID frame_id
parent/reference frame number
TransformStorage(const TransformStorage &rhs)
Copy constructor.
CompactFrameID child_frame_id
child frame number
TransformStorage()
Constructor.
Definition: time_cache.cpp:69
TransformStorage & operator=(const TransformStorage &rhs)
Assignment operator.
Vector3 translation
translation vector
Quaternion rotation
rotation quaternion
fawkes::Time stamp
time stamp
Fawkes library namespace.