frame_transformer_node.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 <rclcpp/rclcpp.hpp>
#include <functional>
#include <std_msgs/msg/string.hpp>
#include <std_srvs/srv/empty.hpp>
#include <gtest/gtest_prod.h>
 
#include <carma_ros2_utils/carma_lifecycle_node.hpp>
#include "frame_transformer/frame_transformer_config.hpp"
#include "frame_transformer/frame_transformer_base.hpp"
#include "frame_transformer/frame_transformer.hpp"
 
namespace frame_transformer
{
 
  class Node : public carma_ros2_utils::CarmaLifecycleNode
  {
 
  private:
 
    Config config_;
 
    std::unique_ptr<TransformerBase> transformer_;
 
    std::shared_ptr<tf2_ros::Buffer> buffer_;
 
    std::shared_ptr<tf2_ros::TransformListener> listener_;
 
  public:
    explicit Node(const rclcpp::NodeOptions &);
 
 
    std::unique_ptr<TransformerBase> build_transformer();
 
    // Overrides
    carma_ros2_utils::CallbackReturn handle_on_configure(const rclcpp_lifecycle::State &);
 
    carma_ros2_utils::CallbackReturn handle_on_cleanup(const rclcpp_lifecycle::State &);
 
    // Unit Test Accessors
    FRIEND_TEST(frame_transformer_test, transform_test);
    FRIEND_TEST(frame_transformer_test, point_cloud_transform_test);
 
  };
 
} // frame_transformer