frame_transformer_base.hpp

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#pragma once
/*
 * Copyright (C) 2021 LEIDOS.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */
 
#include <string>
#include <memory>
#include <tf2_ros/buffer.h>
 
namespace frame_transformer
{
 
  class TransformerBase
  {
 
  protected:
 
    Config config_;
 
    std::shared_ptr<tf2_ros::Buffer> buffer_;
 
    std::shared_ptr<carma_ros2_utils::CarmaLifecycleNode> node_;
 
  protected: // Protected to force super call in child classes
    TransformerBase(const Config& config, std::shared_ptr<tf2_ros::Buffer> buffer, std::shared_ptr<carma_ros2_utils::CarmaLifecycleNode> node) 
      : config_(config), buffer_(buffer), node_(node) {}
  };
 
}