/usr/include/tf2/transform_datatypes.h is in libtf2-dev 0.5.16-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Copyright (c) 2008, 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
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/** \author Tully Foote */
#ifndef TF2_TRANSFORM_DATATYPES_H
#define TF2_TRANSFORM_DATATYPES_H
#include <string>
#include "ros/time.h"
namespace tf2
{
/** \brief The data type which will be cross compatable with geometry_msgs
* This is the tf2 datatype equivilant of a MessageStamped */
template <typename T>
class Stamped : public T{
public:
ros::Time stamp_; ///< The timestamp associated with this data
std::string frame_id_; ///< The frame_id associated this data
/** Default constructor */
Stamped() :frame_id_ ("NO_ID_STAMPED_DEFAULT_CONSTRUCTION"){}; //Default constructor used only for preallocation
/** Full constructor */
Stamped(const T& input, const ros::Time& timestamp, const std::string & frame_id) :
T (input), stamp_ ( timestamp ), frame_id_ (frame_id){ } ;
/** Copy Constructor */
Stamped(const Stamped<T>& s):
T (s),
stamp_(s.stamp_),
frame_id_(s.frame_id_) {}
/** Set the data element */
void setData(const T& input){*static_cast<T*>(this) = input;};
};
/** \brief Comparison Operator for Stamped datatypes */
template <typename T>
bool operator==(const Stamped<T> &a, const Stamped<T> &b) {
return a.frame_id_ == b.frame_id_ && a.stamp_ == b.stamp_ && static_cast<const T&>(a) == static_cast<const T&>(b);
};
}
#endif //TF2_TRANSFORM_DATATYPES_H
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