FrameTransformer.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/system/datetime.h>
#include <mrpt/core/aligned_std_map.h>
#include <mrpt/poses/SE_traits.h>
#include <string>
#include <map>
 
namespace mrpt
{
namespace poses
{
enum FrameLookUpStatus
{
        LKUP_GOOD = 0,
        LKUP_UNKNOWN_FRAME,
        LKUP_NO_CONNECTIVITY,
        LKUP_EXTRAPOLATION_ERROR
};
 
/** Virtual base class for interfaces to a [ROS
* tf2](http://wiki.ros.org/tf2)-like
* service capable of "publishing" and "looking-up" relative poses between two
* "coordinate frames".
* Use derived classes for:
*  - wrapping real ROS tf (TO-DO in
* [mrpt-bridge](http://wiki.ros.org/mrpt_bridge)), or
*  - using a pure MRPT standalone TF service with mrpt::poses::FrameTransformer
*
* Frame IDs are strings.
* MRPT modules use the standard ROS [REP
* 105](http://www.ros.org/reps/rep-0105.html#coordinate-frames)
* document regarding common names for frames:
*  - `base_link`: "the robot"
*  - `odom`: Origin for odometry
*  - `map`: Origin for "the map"
*
* \tparam DIM Can be 2 for SE(2), 2D transformations; or 3 for SE(3), 3D
* transformations.
* \ingroup poses_grp
* \sa FrameTransformer, CPose3D
*/
template <int DIM>
class FrameTransformerInterface
{
   public:
        /** This will be mapped to CPose2D (DIM=2) or CPose3D (DIM=3) */
        using pose_t = typename SE_traits<DIM>::pose_t;
        /** This will be mapped to mrpt::math::TPose2D (DIM=2) or
         * mrpt::math::TPose3D (DIM=3) */
        using lightweight_pose_t = typename SE_traits<DIM>::lightweight_pose_t;
 
        FrameTransformerInterface();
        virtual ~FrameTransformerInterface();
 
        /** Publish a time-stampped transform between two frames */
        virtual void sendTransform(
                const std::string& parent_frame, const std::string& child_frame,
                const pose_t& child_wrt_parent,
                const mrpt::system::TTimeStamp& timestamp = mrpt::system::now()) = 0;
 
        /** Queries the current pose of `target_frame` wrt ("as seen from")
         * `source_frame`.
          * It tries to return the pose at the given timepoint, unless it is
         * INVALID_TIMESTAMP (default),
          * which means returning the latest know transformation.
          */
        virtual FrameLookUpStatus lookupTransform(
                const std::string& target_frame, const std::string& source_frame,
                lightweight_pose_t& child_wrt_parent,
                const mrpt::system::TTimeStamp query_time = INVALID_TIMESTAMP,
                /** Timeout */
                const double timeout_secs = .0) = 0;
 
};  // End of class def.
 
/** See docs in FrameTransformerInterface.
*   This class is an implementation for standalone (non ROS) applications.
* \ingroup poses_grp
* \sa FrameTransformerInterface
*/
template <int DIM>
class FrameTransformer : public FrameTransformerInterface<DIM>
{
   public:
        using base_t = FrameTransformerInterface<DIM>;
 
        FrameTransformer();
        ~FrameTransformer();
 
        // See base docs
        virtual void sendTransform(
                const std::string& parent_frame, const std::string& child_frame,
                const typename base_t::pose_t& child_wrt_parent,
                const mrpt::system::TTimeStamp& timestamp =
                        mrpt::system::now()) override;
        // See base docs
        virtual FrameLookUpStatus lookupTransform(
                const std::string& target_frame, const std::string& source_frame,
                typename base_t::lightweight_pose_t& child_wrt_parent,
                const mrpt::system::TTimeStamp query_time = INVALID_TIMESTAMP,
                const double timeout_secs = .0) override;
 
        /** \overload */
        FrameLookUpStatus lookupTransform(
                const std::string& target_frame, const std::string& source_frame,
                typename base_t::pose_t& child_wrt_parent,
                const mrpt::system::TTimeStamp query_time = INVALID_TIMESTAMP,
                /** Timeout */
                const double timeout_secs = .0)
        {
                typename base_t::lightweight_pose_t p;
                FrameLookUpStatus ret = lookupTransform(
                        target_frame, source_frame, p, query_time, timeout_secs);
                child_wrt_parent = typename base_t::pose_t(p);
                return ret;
        }
 
   protected:
        // double m_max_extrapolation_time;  //!< for extrapolation in the past or
        // in the future [s]
        // double m_max_age_pose_cache;      //!< Max age of stored poses [s]
 
        struct TF_TreeEdge
        {
                // TODO: CPose{2,3}DInterpolator?
                typename base_t::pose_t pose;
                mrpt::system::TTimeStamp timestamp;
 
                TF_TreeEdge(
                        const typename base_t::pose_t& pose_,
                        const mrpt::system::TTimeStamp& timestamp_)
                        : pose(pose_), timestamp(timestamp_)
                {
                }
                TF_TreeEdge() : timestamp(INVALID_TIMESTAMP) {}
        };
 
        // map: [parent] -> { [child] -> relPoseChildWRTParent }
        using pose_tree_t =
                mrpt::aligned_std_map<std::string,
                                                          mrpt::aligned_std_map<std::string, TF_TreeEdge>>;
        pose_tree_t m_pose_edges_buffer;
};
 
}  // ns
}  // ns