tf_buffer_state.hpp

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// Copyright (C) 2026 Maik Knof
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program 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 <https://www.gnu.org/licenses/>.
 
#ifndef YASMIN_ROS__TF_BUFFER_STATE_HPP_
#define YASMIN_ROS__TF_BUFFER_STATE_HPP_
 
#include <memory>
#include <string>
 
#include <rclcpp/rclcpp.hpp>
 
#if __has_include(<tf2_ros/buffer.hpp>)
#include <tf2_ros/buffer.hpp>
#else
#include <tf2_ros/buffer.h>
#endif
 
#if __has_include(<tf2_ros/transform_listener.hpp>)
#include <tf2_ros/transform_listener.hpp>
#else
#include <tf2_ros/transform_listener.h>
#endif
 
#include "yasmin/blackboard.hpp"
#include "yasmin/state.hpp"
#include "yasmin_ros/yasmin_node.hpp"
 
namespace yasmin_ros {

class TfBufferState : public yasmin::State {
public:
  YASMIN_PTR_ALIASES(TfBufferState)
 
  
  TfBufferState();

  void configure() override;

  std::string execute(yasmin::Blackboard::SharedPtr blackboard) override;
 
private:
  rclcpp::Node::SharedPtr node_;
  double cache_time_sec_;
};
 
} // namespace yasmin_ros
 
#endif // YASMIN_ROS__TF_BUFFER_STATE_HPP_