buffer_core_interface.h

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation, 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:
 *
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 *       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
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#ifndef TF2__BUFFER_CORE_INTERFACE_H_
#define TF2__BUFFER_CORE_INTERFACE_H_
 
#include <string>
#include <vector>
 
#include <geometry_msgs/msg/transform_stamped.hpp>
 
#include <tf2/time.h>
#include <tf2/visibility_control.h>
 
namespace tf2
{
 
class BufferCoreInterface
{
public:
  TF2_PUBLIC
  virtual
  ~BufferCoreInterface() = default;
 
  TF2_PUBLIC
  virtual void
  clear() = 0;
 
  TF2_PUBLIC
  virtual geometry_msgs::msg::TransformStamped
  lookupTransform(
    const std::string& target_frame,
    const std::string& source_frame,
    const tf2::TimePoint& time) const = 0;
 
  TF2_PUBLIC
  virtual geometry_msgs::msg::TransformStamped
  lookupTransform(
    const std::string& target_frame,
    const tf2::TimePoint& target_time,
    const std::string& source_frame,
    const tf2::TimePoint& source_time,
    const std::string& fixed_frame) const = 0;
 
  TF2_PUBLIC
  virtual bool
  canTransform(
    const std::string& target_frame,
    const std::string& source_frame,
    const tf2::TimePoint& time,
    std::string* error_msg) const = 0;
 
  TF2_PUBLIC
  virtual bool
  canTransform(
    const std::string& target_frame,
    const tf2::TimePoint& target_time,
    const std::string& source_frame,
    const tf2::TimePoint& source_time,
    const std::string& fixed_frame,
    std::string* error_msg) const = 0;
 
  TF2_PUBLIC
  virtual std::vector<std::string>
  getAllFrameNames() const = 0;
};  // class BufferCoreInterface
 
}  // namespace tf2
 
#endif // TF2__BUFFER_CORE_INTERFACE_H_