.. _program_listing_file_include_hri_feature_tracker.hpp:

Program Listing for File feature_tracker.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_hri_feature_tracker.hpp>` (``include/hri/feature_tracker.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2023 PAL Robotics S.L. All rights reserved.
   //
   // 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.
   
   #ifndef HRI__FEATURE_TRACKER_HPP_
   #define HRI__FEATURE_TRACKER_HPP_
   
   #include <optional>
   #include <string>
   
   #include "geometry_msgs/msg/transform_stamped.hpp"
   #include "rclcpp/rclcpp.hpp"
   #include "tf2_ros/buffer.h"
   
   #include "hri/types.hpp"
   
   namespace hri
   {
   
   class FeatureTracker : public std::enable_shared_from_this<FeatureTracker>
   {
   public:
     explicit FeatureTracker(
       ID id,
       std::string feature_ns,
       std::string feature_tf_prefix,
       NodeInterfaces node_interfaces,
       rclcpp::CallbackGroup::SharedPtr callback_group,
       const tf2::BufferCore & tf_buffer,
       const std::string & reference_frame);
   
     virtual ~FeatureTracker() = default;
   
     // forbids copies of our 'feature trackers', as we need to internally manage
     // if/when they disappear. Instead, access them via shared pointers to const (cf HRIListener API).
     FeatureTracker(const FeatureTracker &) = delete;
   
     ID id() const {return kId_;}
   
     std::string ns() const {return kNs_;}
   
     std::string frame() const {return kFrame_;}
   
     bool valid() const {return valid_;}
   
     // NOLINTNEXTLINE(build/include_what_you_use): false positive requiring #include <algorithm>
     virtual std::optional<geometry_msgs::msg::TransformStamped> transform() const
     {
       return transformFromReference(frame());
     }
   
     bool operator<(const FeatureTracker & other) const {return id() < other.id();}
   
   protected:
     std::optional<geometry_msgs::msg::TransformStamped> transformFromReference(
       std::string frame_name) const;
   
     void invalidate() {valid_ = false;}
   
     const ID kId_;
     const std::string kNs_;  // topic namespace under which this feature is advertised
     const std::string kFrame_;
   
     NodeInterfaces node_interfaces_;
     rclcpp::CallbackGroup::SharedPtr callback_group_;
   
     const tf2::BufferCore & tf_buffer_;
     const std::string & reference_frame_;
   
     bool valid_;
   };
   
   }  // namespace hri
   
   #endif  // HRI__FEATURE_TRACKER_HPP_