transforms.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <Eigen/Geometry>
#include <moveit/macros/class_forward.h>
#include <map>
 
namespace moveit
{
namespace core
{
MOVEIT_CLASS_FORWARD(Transforms);  // Defines TransformsPtr, ConstPtr, WeakPtr... etc
 
using FixedTransformsMap = std::map<std::string, Eigen::Isometry3d, std::less<std::string>,
                                    Eigen::aligned_allocator<std::pair<const std::string, Eigen::Isometry3d> > >;
 
class Transforms
{
public:
  Transforms(const Transforms&) = delete;
 
  Transforms& operator=(const Transforms&) = delete;
 
  Transforms(const std::string& target_frame);
 
  virtual ~Transforms();
 
  static bool sameFrame(const std::string& frame1, const std::string& frame2);
 
  const std::string& getTargetFrame() const;
 
  const FixedTransformsMap& getAllTransforms() const;
 
  void copyTransforms(std::vector<geometry_msgs::msg::TransformStamped>& transforms) const;
 
  void setTransform(const Eigen::Isometry3d& t, const std::string& from_frame);
 
  void setTransform(const geometry_msgs::msg::TransformStamped& transform);
 
  void setTransforms(const std::vector<geometry_msgs::msg::TransformStamped>& transforms);
 
  void setAllTransforms(const FixedTransformsMap& transforms);
 
  void transformVector3(const std::string& from_frame, const Eigen::Vector3d& v_in, Eigen::Vector3d& v_out) const
  {
    // getTransform() returns a valid isometry by contract
    v_out = getTransform(from_frame).linear() * v_in;
  }
 
  void transformQuaternion(const std::string& from_frame, const Eigen::Quaterniond& q_in,
                           Eigen::Quaterniond& q_out) const
  {
    // getTransform() returns a valid isometry by contract
    q_out = getTransform(from_frame).linear() * q_in;
  }
 
  void transformRotationMatrix(const std::string& from_frame, const Eigen::Matrix3d& m_in, Eigen::Matrix3d& m_out) const
  {
    // getTransform() returns a valid isometry by contract
    m_out = getTransform(from_frame).linear() * m_in;
  }
 
  void transformPose(const std::string& from_frame, const Eigen::Isometry3d& t_in, Eigen::Isometry3d& t_out) const
  {
    // getTransform() returns a valid isometry by contract
    t_out = getTransform(from_frame) * t_in;
  }
  virtual bool canTransform(const std::string& from_frame) const;
 
  virtual bool isFixedFrame(const std::string& frame) const;
 
  virtual const Eigen::Isometry3d& getTransform(const std::string& from_frame) const;
 
protected:
  std::string target_frame_;
  FixedTransformsMap transforms_map_;
};
}  // namespace core
}  // namespace moveit