TransformReader.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotAPI::ArmarXObjects::
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
 
#include "interfaces.h"
 
namespace armarx::armem::robot_state::client::localization
{
    /**
    * @defgroup Component-ExampleClient ExampleClient
    * @ingroup RobotAPI-Components
    * A description of the component ExampleClient.
    *
    * @class TransformReader
    * @ingroup Component-ExampleClient
    * @brief Brief description of class ExampleClient.
    *
    * Detailed description of class ExampleClient.
    */
    class TransformReader : virtual public TransformReaderInterface
    {
    public:
        TransformReader() = default;
        TransformReader(const TransformReader&);
 
        ~TransformReader() override;
 
        void connect(armem::client::MemoryNameSystem& memoryNameSystem) override;
 
        TransformResult getGlobalPose(const std::string& agentName,
                                      const std::string& robotRootFrame,
                                      const armem::Time& timestamp) const override;
 
        TransformResult lookupTransform(const TransformQuery& query) const override;
 
        void registerPropertyDefinitions(::armarx::PropertyDefinitionsPtr& def) override;
 
    private:
        armem::client::Reader memoryReader;
        mutable std::mutex memoryReaderMutex;
 
        // Properties
        struct Properties
        {
            std::string memoryName = "RobotState";
            std::string localizationSegment = "Localization";
        } properties;
 
        const std::string propertyPrefix = "mem.robot_state.";
    };
} // namespace armarx::armem::client::robot_state::localization