tf2  master
tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time.
transform_datatypes.h
Go to the documentation of this file.
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29 
32 #ifndef TF2_TRANSFORM_DATATYPES_H
33 #define TF2_TRANSFORM_DATATYPES_H
34 
35 #include <chrono>
36 #include <string>
37 #include <tf2/time.h>
38 
39 namespace tf2
40 {
41 
44 template <typename T>
45 class Stamped : public T{
46  public:
49 
51  Stamped() :frame_id_ ("NO_ID_STAMPED_DEFAULT_CONSTRUCTION"){}; //Default constructor used only for preallocation
52 
54  Stamped(const T& input, const TimePoint& timestamp, const std::string & frame_id) :
55  T (input), stamp_ ( timestamp ), frame_id_ (frame_id){ } ;
56 
58  Stamped(const Stamped<T>& s):
59  T (s),
60  stamp_(s.stamp_),
61  frame_id_(s.frame_id_) {}
62 
64  void setData(const T& input){*static_cast<T*>(this) = input;};
65 
67  {
68  T::operator=(s);
69  this->stamp_ = s.stamp_;
70  this->frame_id_ = s.frame_id_;
71  return *this;
72  }
73 };
74 
76 template <typename T>
77 bool operator==(const Stamped<T> &a, const Stamped<T> &b) {
78  return a.frame_id_ == b.frame_id_ && a.stamp_ == b.stamp_ && static_cast<const T&>(a) == static_cast<const T&>(b);
79 }
80 
81 
82 }
83 #endif //TF2_TRANSFORM_DATATYPES_H
std::string
tf2::Stamped::stamp_
TimePoint stamp_
The timestamp associated with this data.
Definition: transform_datatypes.h:47
tf2::Stamped::setData
void setData(const T &input)
Definition: transform_datatypes.h:64
tf2::Stamped
The data type which will be cross compatable with geometry_msgs This is the tf2 datatype equivilant o...
Definition: transform_datatypes.h:45
tf2::Stamped::operator=
Stamped & operator=(const Stamped< T > &s)
Definition: transform_datatypes.h:66
tf2::Stamped::Stamped
Stamped()
Definition: transform_datatypes.h:51
tf2::Stamped::Stamped
Stamped(const Stamped< T > &s)
Definition: transform_datatypes.h:58
tf2::operator==
TF2SIMD_FORCE_INLINE bool operator==(const Matrix3x3 &m1, const Matrix3x3 &m2)
Equality operator between two matrices It will test all elements are equal.
Definition: Matrix3x3.h:649
tf2::Stamped::frame_id_
std::string frame_id_
The frame_id associated this data.
Definition: transform_datatypes.h:48
time.h
std::chrono::time_point< std::chrono::system_clock, Duration >
tf2
Definition: buffer_core.h:55
tf2::Stamped::Stamped
Stamped(const T &input, const TimePoint &timestamp, const std::string &frame_id)
Definition: transform_datatypes.h:54