Program Listing for File transformer.h

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#ifndef VOXBLOX_ROS_TRANSFORMER_H_
#define VOXBLOX_ROS_TRANSFORMER_H_

#include <geometry_msgs/TransformStamped.h>
#include <tf/transform_listener.h>
#include <string>

#include <voxblox/core/common.h>

namespace voxblox {

class Transformer {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  Transformer(const ros::NodeHandle& nh, const ros::NodeHandle& nh_private);

  bool lookupTransform(const std::string& from_frame,
                       const std::string& to_frame, const ros::Time& timestamp,
                       Transformation* transform);

  void transformCallback(const geometry_msgs::TransformStamped& transform_msg);

 private:
  bool lookupTransformTf(const std::string& from_frame,
                         const std::string& to_frame,
                         const ros::Time& timestamp, Transformation* transform);

  bool lookupTransformQueue(const ros::Time& timestamp,
                            Transformation* transform);

  ros::NodeHandle nh_;
  ros::NodeHandle nh_private_;

  std::string world_frame_;
  std::string sensor_frame_;
  bool use_tf_transforms_;
  int64_t timestamp_tolerance_ns_;
  Transformation T_B_C_;
  Transformation T_B_D_;
  tf::TransformListener tf_listener_;

  // l Only used if use_tf_transforms_ set to false.
  ros::Subscriber transform_sub_;

  // l Transform queue, used only when use_tf_transforms is false.
  AlignedDeque<geometry_msgs::TransformStamped> transform_queue_;
};

}  // namespace voxblox

#endif  // VOXBLOX_ROS_TRANSFORMER_H_