FrameTransformContainer.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef YARP_DEV_FRAMETRANSFORM_UTILS_H
#define YARP_DEV_FRAMETRANSFORM_UTILS_H
 
 
#include <yarp/os/Network.h>
#include <yarp/dev/IFrameTransformStorage.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/IMultipleWrapper.h>
#include <mutex>
#include <map>
 
class FrameTransformContainer :
    public yarp::dev::IFrameTransformStorageSet,
    public yarp::dev::IFrameTransformStorageGet
{
    using ContainerType = std::vector<yarp::math::FrameTransform>;
 
protected:
    ContainerType m_transforms;
 
public:
    mutable std::recursive_mutex  m_trf_mutex;
 
public:
    //non-static transforms older than value (seconds) will be removed by method checkAndRemoveExpired()
    double m_timeout = 0.2;
 
public:
    FrameTransformContainer() {}
    ~FrameTransformContainer() {}
 
    //IFrameTransformStorageSet interface
    bool setTransforms(const std::vector<yarp::math::FrameTransform>& transforms) override;
    bool setTransform(const yarp::math::FrameTransform& transform) override;
 
    //IFrameTransformStorageGet interface
    bool getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const override;
 
    //IFrameTransformStorageUtils interface
    bool deleteTransform(std::string t1, std::string t2) override;
    bool clearAll() override;
 
    bool size(size_t& size) const;
 
public:
    //other
    bool checkAndRemoveExpired();
    bool checkAndRemoveExpired() const;
    ContainerType::iterator begin() {return m_transforms.begin();}
    ContainerType::iterator end()   {return m_transforms.end();}
 
    //yarp::math::FrameTransform& operator[]   (std::size_t idx) { return m_transforms[idx]; }
    //bool     delete_transform(int id);
};
 
#endif // YARP_DEV_FRAMETRANSFORM_UTILS_H