buffer_interface.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 * 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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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef TF2_ROS_BUFFER_INTERFACE_H
#define TF2_ROS_BUFFER_INTERFACE_H
 
#include <rclcpp/rclcpp.hpp>
#include <tf2_ros/visibility_control.h>
#include <tf2/transform_datatypes.h>
#include <tf2/exceptions.h>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <sstream>
#include <tf2/convert.h>
 
namespace tf2_ros
{
  using TransformStampedFuture = std::shared_future<geometry_msgs::msg::TransformStamped>;
  using TransformReadyCallback = std::function<void(const TransformStampedFuture&)>;
 
  inline builtin_interfaces::msg::Time toMsg(const tf2::TimePoint & t)
  {
    std::chrono::nanoseconds ns = \
      std::chrono::duration_cast<std::chrono::nanoseconds>(t.time_since_epoch());
    std::chrono::seconds s = \
      std::chrono::duration_cast<std::chrono::seconds>(t.time_since_epoch());
    builtin_interfaces::msg::Time time_msg;
    time_msg.sec = (int32_t)s.count();
    time_msg.nanosec = (uint32_t)(ns.count() % 1000000000ull);
    return time_msg;
  }
 
  inline tf2::TimePoint fromMsg(const builtin_interfaces::msg::Time & time_msg)
  {
    int64_t d = time_msg.sec * 1000000000ull + time_msg.nanosec;
    std::chrono::nanoseconds ns(d);
    return tf2::TimePoint(std::chrono::duration_cast<tf2::Duration>(ns));
  }
 
  inline builtin_interfaces::msg::Duration toMsg(const tf2::Duration & t)
  {
    std::chrono::nanoseconds ns = \
      std::chrono::duration_cast<std::chrono::nanoseconds>(t);
    std::chrono::seconds s = \
      std::chrono::duration_cast<std::chrono::seconds>(t);
    builtin_interfaces::msg::Duration duration_msg;
    duration_msg.sec = (int32_t)s.count();
    duration_msg.nanosec = (uint32_t)(ns.count() % 1000000000ull);
    return duration_msg;
  }
 
  inline tf2::Duration fromMsg(const builtin_interfaces::msg::Duration & duration_msg)
  {
    int64_t d = duration_msg.sec * 1000000000ull + duration_msg.nanosec;
    std::chrono::nanoseconds ns(d);
    return tf2::Duration(std::chrono::duration_cast<tf2::Duration>(ns));
  }
 
  inline double timeToSec(const builtin_interfaces::msg::Time & time_msg)
  {
    auto ns = std::chrono::duration<double, std::nano>(time_msg.nanosec);
    auto s = std::chrono::duration<double>(time_msg.sec);
    return (s + std::chrono::duration_cast<std::chrono::duration<double>>(ns)).count();
  }
 
  inline tf2::TimePoint fromRclcpp(const rclcpp::Time & time)
  {
    // tf2::TimePoint is a typedef to a system time point, but rclcpp::Time may be ROS time.
    // Ignore that, and assume the clock used from rclcpp time points is consistent.
    return tf2::TimePoint(std::chrono::nanoseconds(time.nanoseconds()));
  }
 
  inline rclcpp::Time toRclcpp(const tf2::TimePoint & time)
  {
    // tf2::TimePoint is a typedef to a system time point, but rclcpp::Time may be ROS time.
    // Use whatever the default clock is.
    return rclcpp::Time(std::chrono::nanoseconds(time.time_since_epoch()).count());
  }
 
  inline tf2::Duration fromRclcpp(const rclcpp::Duration & duration)
  {
    return tf2::Duration(std::chrono::nanoseconds(duration.nanoseconds()));
  }
 
  inline rclcpp::Duration toRclcpp(const tf2::Duration & duration)
  {
    return rclcpp::Duration(std::chrono::duration_cast<std::chrono::nanoseconds>(duration));
  }
 
class BufferInterface
{
public:
  TF2_ROS_PUBLIC
  virtual geometry_msgs::msg::TransformStamped
    lookupTransform(const std::string& target_frame, const std::string& source_frame, 
            const tf2::TimePoint& time, const tf2::Duration timeout) const = 0;
 
  TF2_ROS_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 tf2::Duration timeout) const = 0;
 
 
  TF2_ROS_PUBLIC
  virtual bool
    canTransform(const std::string& target_frame, const std::string& source_frame, 
         const tf2::TimePoint& time, const tf2::Duration timeout, std::string* errstr = NULL) const = 0;
 
  TF2_ROS_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, const tf2::Duration timeout, std::string* errstr = NULL) const = 0;
 
  template <class T>
    T& transform(const T& in, T& out, 
             const std::string& target_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const
  {
    // do the transform
    tf2::doTransform(in, out, lookupTransform(target_frame, tf2::getFrameId(in), tf2::getTimestamp(in), timeout));
    return out;
  }
 
  template <class T>
    T transform(const T& in, 
            const std::string& target_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const
  {
    T out;
    return transform(in, out, target_frame, timeout);
  }
 
  template <class A, class B>
    B& transform(const A& in, B& out,
        const std::string& target_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const
  {
    A copy = transform(in, target_frame, timeout);
    tf2::convert(copy, out);
    return out;
  }
 
  template <class T>
    T& transform(const T& in, T& out, 
             const std::string& target_frame, const tf2::TimePoint& target_time,
             const std::string& fixed_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const
  {
    // do the transform
    tf2::doTransform(in, out, lookupTransform(target_frame, target_time, 
                                              tf2::getFrameId(in), tf2::getTimestamp(in), 
                                              fixed_frame, timeout));
    return out;
  }
 
  template <class T>
    T transform(const T& in, 
             const std::string& target_frame, const tf2::TimePoint& target_time,
             const std::string& fixed_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const
  {
    T out;
    return transform(in, out, target_frame, target_time, fixed_frame, timeout);
  }
 
  template <class A, class B>
    B& transform(const A& in, B& out, 
             const std::string& target_frame, const tf2::TimePoint& target_time,
             const std::string& fixed_frame, tf2::Duration timeout=tf2::durationFromSec(0.0)) const
  {
    // do the transform
    A copy = transform(in, target_frame, target_time, fixed_frame, timeout);
    tf2::convert(copy, out);
    return out;
  }
 
  virtual ~BufferInterface()
  {
  }
 }; // class
 
 
} // namespace
 
#endif // TF2_ROS_BUFFER_INTERFACE_H