transform_provider.hpp

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/* Author: Suat Gedikli */
 
#pragma once
 
#include <string>
#include <moveit/macros/class_forward.hpp>
#include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
#include <moveit/mesh_filter/mesh_filter_base.hpp>
#include <map>
 
namespace tf2_ros
{
class TransformListener;
class Buffer;
}  // namespace tf2_ros
 
class TransformProvider
{
public:
  TransformProvider(double update_rate = 30.);
 
  ~TransformProvider();
 
  bool getTransform(mesh_filter::MeshHandle handle, Eigen::Isometry3d& transform) const;
 
  void addHandle(mesh_filter::MeshHandle handle, const std::string& name);
 
  void setFrame(const std::string& frame);
 
  void start();
 
  void stop();
 
  void setUpdateRate(double update_rate);
 
private:
  void updateTransforms();
 
  MOVEIT_CLASS_FORWARD(TransformContext);  // Defines TransformContextPtr, ConstPtr, WeakPtr... etc
 
  class TransformContext
  {
  public:
    TransformContext(const std::string& name) : frame_id_(name)
    {
      transformation_.matrix().setZero();
    }
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    std::string frame_id_;
    Eigen::Isometry3d transformation_;
    std::mutex mutex_;
  };
 
  void run();
 
  std::map<mesh_filter::MeshHandle, TransformContextPtr> handle2context_;
 
  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
 
  planning_scene_monitor::PlanningSceneMonitorPtr psm_;
 
  std::string frame_id_;
 
  std::thread thread_;
 
  bool stop_;
 
  ros::Rate update_rate_;
};