transform_storage.h

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/*
 * Copyright (c) 2010, Willow Garage, 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:
 *
 *     * Redistributions of source code must retain the above copyright
 *       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
 *       documentation and/or other materials provided with the distribution.
 *     * 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
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#ifndef TF2_TRANSFORM_STORAGE_H
#define TF2_TRANSFORM_STORAGE_H
 
#include <tf2/LinearMath/Vector3.h>
#include <tf2/LinearMath/Quaternion.h>
 
#include "tf2/time.h"
#include <tf2/visibility_control.h>
 
namespace tf2
{
 
 
 
typedef uint32_t CompactFrameID;
 
class TransformStorage
{
public:
  TF2_PUBLIC
  TransformStorage();
  TF2_PUBLIC
  TransformStorage(const TimePoint& stamp, const Quaternion& q, const Vector3& t, CompactFrameID frame_id,
                   CompactFrameID child_frame_id);
 
  TF2_PUBLIC
  TransformStorage(const TransformStorage& rhs)
  {
    *this = rhs;
  }
 
  TF2_PUBLIC
  TransformStorage& operator=(const TransformStorage& rhs)
  {
#if 01
    rotation_ = rhs.rotation_;
    translation_ = rhs.translation_;
    stamp_ = rhs.stamp_;
    frame_id_ = rhs.frame_id_;
    child_frame_id_ = rhs.child_frame_id_;
#endif
    return *this;
  }
 
  tf2::Quaternion rotation_;
  tf2::Vector3 translation_;
  TimePoint stamp_;
  CompactFrameID frame_id_;
  CompactFrameID child_frame_id_;
};
 
}
 
#endif // TF2_TRANSFORM_STORAGE_H