/usr/include/tf2_ros/buffer_client.h is in libtf2-ros-dev 0.5.12-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 | /*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, 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 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: Eitan Marder-Eppstein
*********************************************************************/
#ifndef TF2_ROS_BUFFER_CLIENT_H_
#define TF2_ROS_BUFFER_CLIENT_H_
#include <tf2_ros/buffer_interface.h>
#include <actionlib/client/simple_action_client.h>
#include <tf2_msgs/LookupTransformAction.h>
namespace tf2_ros
{
class BufferClient : public BufferInterface
{
public:
typedef actionlib::SimpleActionClient<tf2_msgs::LookupTransformAction> LookupActionClient;
/** \brief BufferClient constructor
* \param ns The namespace in which to look for a BufferServer
* \param check_frequency The frequency in Hz to check whether the BufferServer has completed a request
* \param timeout_paddind The amount of time to allow passed the desired timeout on the client side for communication lag
*/
BufferClient(std::string ns, double check_frequency = 10.0, ros::Duration timeout_padding_ = ros::Duration(2.0));
/** \brief Get the transform between two frames by frame ID.
* \param target_frame The frame to which data should be transformed
* \param source_frame The frame where the data originated
* \param time The time at which the value of the transform is desired. (0 will get the latest)
* \param timeout How long to block before failing
* \return The transform between the frames
*
* Possible exceptions tf2::LookupException, tf2::ConnectivityException,
* tf2::ExtrapolationException, tf2::InvalidArgumentException
*/
virtual geometry_msgs::TransformStamped
lookupTransform(const std::string& target_frame, const std::string& source_frame,
const ros::Time& time, const ros::Duration timeout = ros::Duration(0.0)) const;
/** \brief Get the transform between two frames by frame ID assuming fixed frame.
* \param target_frame The frame to which data should be transformed
* \param target_time The time to which the data should be transformed. (0 will get the latest)
* \param source_frame The frame where the data originated
* \param source_time The time at which the source_frame should be evaluated. (0 will get the latest)
* \param fixed_frame The frame in which to assume the transform is constant in time.
* \param timeout How long to block before failing
* \return The transform between the frames
*
* Possible exceptions tf2::LookupException, tf2::ConnectivityException,
* tf2::ExtrapolationException, tf2::InvalidArgumentException
*/
virtual geometry_msgs::TransformStamped
lookupTransform(const std::string& target_frame, const ros::Time& target_time,
const std::string& source_frame, const ros::Time& source_time,
const std::string& fixed_frame, const ros::Duration timeout = ros::Duration(0.0)) const;
/** \brief Test if a transform is possible
* \param target_frame The frame into which to transform
* \param source_frame The frame from which to transform
* \param time The time at which to transform
* \param timeout How long to block before failing
* \param errstr A pointer to a string which will be filled with why the transform failed, if not NULL
* \return True if the transform is possible, false otherwise
*/
virtual bool
canTransform(const std::string& target_frame, const std::string& source_frame,
const ros::Time& time, const ros::Duration timeout = ros::Duration(0.0), std::string* errstr = NULL) const;
/** \brief Test if a transform is possible
* \param target_frame The frame into which to transform
* \param target_time The time into which to transform
* \param source_frame The frame from which to transform
* \param source_time The time from which to transform
* \param fixed_frame The frame in which to treat the transform as constant in time
* \param timeout How long to block before failing
* \param errstr A pointer to a string which will be filled with why the transform failed, if not NULL
* \return True if the transform is possible, false otherwise
*/
virtual bool
canTransform(const std::string& target_frame, const ros::Time& target_time,
const std::string& source_frame, const ros::Time& source_time,
const std::string& fixed_frame, const ros::Duration timeout = ros::Duration(0.0), std::string* errstr = NULL) const;
bool waitForServer(const ros::Duration& timeout = ros::Duration(0))
{
return client_.waitForServer(timeout);
}
private:
geometry_msgs::TransformStamped processGoal(const tf2_msgs::LookupTransformGoal& goal) const;
geometry_msgs::TransformStamped processResult(const tf2_msgs::LookupTransformResult& result) const;
mutable LookupActionClient client_;
double check_frequency_;
ros::Duration timeout_padding_;
};
};
#endif
|