TransformerNode.h

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/*
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 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
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#ifndef _MIRA_TRANSFORMERNODE_H_
#define _MIRA_TRANSFORMERNODE_H_

#include <string>

#ifndef Q_MOC_RUN
#include <boost/iterator/transform_iterator.hpp>
#endif

#include <utils/Stamped.h>
#include <utils/Time.h>

#include <utils/StampedDataQueue.h>
#include <utils/IteratorRangeContainer.h>

#include <transform/RigidTransform.h>

namespace mira {


// forward decls
class TransformerBase;
class NearestNeighborInterpolator;

class MIRA_BASE_EXPORT AbstractTransformerNode
{
public:

    typedef AbstractTransformerNode* AbstractNodePtr;

protected:
    AbstractTransformerNode(const std::string& id) :
        mID(id), mParent(NULL) {}

    virtual ~AbstractTransformerNode() {}

public:

    const std::string& getID() const { return mID; }

    const std::list<AbstractNodePtr>& getChildren() const { return mChildren; }

    const AbstractNodePtr& getParent() const { return mParent; }

    uint32 getDescendantCount() const;

    bool isAncestorOf(const AbstractNodePtr other) const;

public:

    virtual bool isEmpty() const = 0;

    template<typename Transform, typename Filter>
    Transform getTransform(const Time& time, Filter&& filter) {
        // #####################################################################
        // If you get a compiler error here, the class that was passed as
        // template parameter TNode does not implement the necessary
        // getTransform() method. Please implement that method in your transform
        // node class!
        // #####################################################################
        static_assert(sizeof(Transform)==0,
            "getTransform() must be implemented in your derived Node class");
        return Transform(); // to prevent compiler warning
    }

protected:
    friend class TransformerBase;

    std::string                mID;

    AbstractNodePtr            mParent;

    std::list<AbstractNodePtr> mChildren;
};



template <typename T, int D, template <typename T_, int D_> class TTransform>
class Transformer;

template <typename StorageTransform>
class TransformerNode : public AbstractTransformerNode
{
    typedef AbstractTransformerNode Base;

    typedef StampedDataQueue<StorageTransform> Storage;

protected:
    template <typename T, int D, template <typename T_, int D_> class TTransform_>
    friend class Transformer;

    TransformerNode(const std::string& id) : Base(id) {}

private:

    // the following two types are used in getTransform(...,Filter&&)
    // they extract the time(as uint64) and the transform out of a
    // Stamped<Transform>
    template <typename Transform>
    struct GetTime
    {
        GetTime(const Time& iT0) : t0(iT0) {}

        typedef int64 result_type;
        result_type operator()(const Stamped<Transform>& p) const {
            return (result_type)(p.timestamp-t0).totalMilliseconds();
        }

        Time t0;
    };

    template <typename Transform>
    struct GetTransform
    {
        typedef const Transform& result_type;
        result_type operator()(const Stamped<Transform>& p) const {
            return p;
        }
    };


public:

    Storage& storage() { return mTransformStorage; }

    void setTransform(const StorageTransform& transform, const Time& time) {
        mTransformStorage.insert(typename Storage::value_type(transform, time));
    }
    virtual bool isEmpty() const { return mTransformStorage.empty(); }

    template<typename Transform, typename Filter>
    Transform getTransform(const Time& time, Filter&& filter)
    {
        // get interval that is required by the filter
        auto its = mTransformStorage.getInterval(time,filter.samples(),
                                                 filter.samplesBefore(),
                                                 filter.samplesAfter());

        const Time t0 = its.first->timestamp;

        // using adapters, iterators and the IteratorRangeContainer, the
        // following code mimics two different containers: one that contains
        // the time as float and one that contains the transforms. In fact
        // there is one container only (mTransformStorage) that contains both
        // within a single container.
        typedef typename Storage::const_iterator const_iterator;
        typedef boost::transform_iterator<GetTime<Transform>, const_iterator> GetTimeIterator;
        GetTimeIterator begin1 = GetTimeIterator(its.first ,GetTime<Transform>(t0));
        GetTimeIterator end1   = GetTimeIterator(its.second,GetTime<Transform>(t0));

        typedef boost::transform_iterator<GetTransform<Transform>, const_iterator> GetTransformIterator;
        GetTransformIterator begin2 = GetTransformIterator(its.first ,GetTransform<Transform>());
        GetTransformIterator end2   = GetTransformIterator(its.second,GetTransform<Transform>());

        typedef mira::IteratorRangeContainer<GetTimeIterator> TimeContainer;
        typedef mira::IteratorRangeContainer<GetTransformIterator> TransformContainer;
        TimeContainer      timeContainer(begin1, end1);
        TransformContainer transformContainer(begin2, end2);

        // call the filter to obtain the filtered transform at the desired time
        return filter.template apply<float, Transform>(timeContainer,
                  transformContainer, (float)(time-t0).totalMilliseconds());
    }

    // specialize for NearestNeighborInterpolator and make a direct call
    // to getData for better performance
    template<typename Transform>
    Transform getTransform(const Time& time, NearestNeighborInterpolator&) {
        return mTransformStorage.getData(time);
    }

protected:

    Storage mTransformStorage;
};



} // namespace

#endif /* _MIRA_TRANSFORMERNODE_H_ */