async_buffer_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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 *     * 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.
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#ifndef TF2_ROS__ASYNC_BUFFER_INTERFACE_H_
#define TF2_ROS__ASYNC_BUFFER_INTERFACE_H_
 
#include <tf2_ros/visibility_control.h>
#include <tf2/time.h>
#include <tf2/transform_datatypes.h>
 
#include <geometry_msgs/msg/transform_stamped.hpp>
 
#include <functional>
#include <future>
#include <string>
 
namespace tf2_ros
{
 
using TransformStampedFuture = std::shared_future<geometry_msgs::msg::TransformStamped>;
using TransformReadyCallback = std::function<void (const TransformStampedFuture &)>;
 
class AsyncBufferInterface
{
public:
  TF2_ROS_PUBLIC
  virtual
  ~AsyncBufferInterface() = default;
 
  TF2_ROS_PUBLIC
  virtual TransformStampedFuture
  waitForTransform(
    const std::string & target_frame,
    const std::string & source_frame,
    const tf2::TimePoint & time,
    const tf2::Duration & timeout,
    TransformReadyCallback callback) = 0;
};  // class AsyncBufferInterface
 
}  // namespace tf2_ros
 
#endif  // TF2_ROS__ASYNC_BUFFER_INTERFACE_H_