/usr/include/tf2/transform_storage.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) 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
* 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_STORAGE_H
#define TF2_TRANSFORM_STORAGE_H
#include <tf2/LinearMath/Vector3.h>
#include <tf2/LinearMath/Quaternion.h>
#include <ros/message_forward.h>
#include <ros/time.h>
#include <ros/types.h>
namespace geometry_msgs
{
ROS_DECLARE_MESSAGE(TransformStamped);
}
namespace tf2
{
typedef uint32_t CompactFrameID;
/** \brief Storage for transforms and their parent */
class TransformStorage
{
public:
TransformStorage();
TransformStorage(const geometry_msgs::TransformStamped& data, CompactFrameID frame_id, CompactFrameID child_frame_id);
TransformStorage(const TransformStorage& rhs)
{
*this = rhs;
}
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_;
ros::Time stamp_;
CompactFrameID frame_id_;
CompactFrameID child_frame_id_;
};
}
#endif // TF2_TRANSFORM_STORAGE_H
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