Move implementation from hpp to cpp

tf2/CMakeLists.txt

@@ -20,7 +20,13 @@ find_package(rosidl_runtime_cpp REQUIRED)
 # export user definitions
 
 #CPP Libraries
-add_library(tf2 src/cache.cpp src/buffer_core.cpp src/static_cache.cpp src/time.cpp)
+add_library(tf2
+  src/cache.cpp
+  src/buffer_core.cpp
+  src/convert.cpp
+  src/exceptions.cpp
+  src/static_cache.cpp
+  src/time.cpp)
 target_include_directories(tf2 PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")

tf2/include/tf2/buffer_core.hpp

@@ -264,10 +264,10 @@ class BufferCore : public BufferCoreInterface
   // Tell the buffer that there are multiple threads servicing it.
   // This is useful for derived classes to know if they can block or not.
   TF2_PUBLIC
-  void setUsingDedicatedThread(bool value) {using_dedicated_thread_ = value;}
+  void setUsingDedicatedThread(bool value);
   // Get the state of using_dedicated_thread_
   TF2_PUBLIC
-  bool isUsingDedicatedThread() const {return using_dedicated_thread_;}
+  bool isUsingDedicatedThread() const;
 
 
   /* Backwards compatibility section for tf::Transformer you should not use these
@@ -292,36 +292,23 @@ class BufferCore : public BufferCoreInterface
 
 
   TF2_PUBLIC
-  CompactFrameID _lookupFrameNumber(const std::string & frameid_str) const
-  {
-    return lookupFrameNumber(frameid_str);
-  }
+  CompactFrameID _lookupFrameNumber(const std::string & frameid_str) const;
   TF2_PUBLIC
-  CompactFrameID _lookupOrInsertFrameNumber(const std::string & frameid_str)
-  {
-    return lookupOrInsertFrameNumber(frameid_str);
-  }
+  CompactFrameID _lookupOrInsertFrameNumber(const std::string & frameid_str);
 
   TF2_PUBLIC
   tf2::TF2Error _getLatestCommonTime(
     CompactFrameID target_frame, CompactFrameID source_frame,
-    TimePoint & time, std::string * error_string) const
-  {
-    std::unique_lock<std::mutex> lock(frame_mutex_);
-    return getLatestCommonTime(target_frame, source_frame, time, error_string);
-  }
+    TimePoint & time, std::string * error_string) const;
 
   TF2_PUBLIC
   CompactFrameID _validateFrameId(
     const char * function_name_arg,
-    const std::string & frame_id) const
-  {
-    return validateFrameId(function_name_arg, frame_id);
-  }
+    const std::string & frame_id) const;
 
   /**@brief Get the duration over which this transformer will cache */
   TF2_PUBLIC
-  tf2::Duration getCacheLength() {return cache_time_;}
+  tf2::Duration getCacheLength();
 
   /** \brief Backwards compatibilityA way to see what frames have been cached
    * Useful for debugging

tf2/include/tf2/convert.hpp

@@ -33,7 +33,6 @@
 #ifndef TF2__CONVERT_HPP_
 #define TF2__CONVERT_HPP_
 
-#include <algorithm>
 #include <array>
 #include <string>
 
@@ -166,38 +165,18 @@ void convert(const A & a1, A & a2)
  * \param row_major A row-major array of 36 covariance values.
  * \return A nested array representation of 6x6 covariance values.
  */
-inline
+TF2_PUBLIC
 std::array<std::array<double, 6>, 6> covarianceRowMajorToNested(
-  const std::array<double, 36> & row_major)
-{
-  std::array<std::array<double, 6>, 6> nested_array;
-  std::array<double, 36>::const_iterator ss = row_major.begin();
-  for (std::array<double, 6> & dd : nested_array) {
-    std::copy_n(ss, dd.size(), dd.begin());
-    ss += dd.size();
-  }
-  return nested_array;
-}
+  const std::array<double, 36> & row_major);
 
 /**\brief Function that converts from a nested array representation of a 6x6
  * covariance matrix to a row-major representation.
  * \param nested_array A nested array representation of 6x6 covariance values.
  * \return A row-major array of 36 covariance values.
  */
-inline
+TF2_PUBLIC
 std::array<double, 36> covarianceNestedToRowMajor(
-  const std::array<std::array<double, 6>, 6> & nested_array)
-{
-  std::array<double, 36> row_major = {};
-  size_t counter = 0;
-  for (const auto & arr : nested_array) {
-    for (const double & val : arr) {
-      row_major[counter] = val;
-      counter++;
-    }
-  }
-  return row_major;
-}
+  const std::array<std::array<double, 6>, 6> & nested_array);
 }  // namespace tf2
 
 #endif  // TF2__CONVERT_HPP_

tf2/include/tf2/exceptions.hpp

@@ -66,10 +66,7 @@ class TransformException : public std::runtime_error
 {
 public:
   TF2_PUBLIC
-  explicit TransformException(const std::string errorDescription)
-  : std::runtime_error(errorDescription)
-  {
-  }
+  explicit TransformException(const std::string errorDescription);
 };
 
 
@@ -82,10 +79,7 @@ class ConnectivityException : public TransformException
 {
 public:
   TF2_PUBLIC
-  explicit ConnectivityException(const std::string errorDescription)
-  : tf2::TransformException(errorDescription)
-  {
-  }
+  explicit ConnectivityException(const std::string errorDescription);
 };
 
 
@@ -101,10 +95,7 @@ class LookupException : public TransformException
 {
 public:
   TF2_PUBLIC
-  explicit LookupException(const std::string errorDescription)
-  : tf2::TransformException(errorDescription)
-  {
-  }
+  explicit LookupException(const std::string errorDescription);
 };
 
 /** \brief An exception class to notify that the requested value would have required extrapolation beyond current limits.
@@ -114,10 +105,7 @@ class ExtrapolationException : public TransformException
 {
 public:
   TF2_PUBLIC
-  explicit ExtrapolationException(const std::string errorDescription)
-  : tf2::TransformException(errorDescription)
-  {
-  }
+  explicit ExtrapolationException(const std::string errorDescription);
 };
 
 /** \brief An exception class to notify that the requested value would have required extrapolation in the past.
@@ -127,10 +115,7 @@ class BackwardExtrapolationException : public ExtrapolationException
 {
 public:
   TF2_PUBLIC
-  explicit BackwardExtrapolationException(const std::string errorDescription)
-  : ExtrapolationException(errorDescription)
-  {
-  }
+  explicit BackwardExtrapolationException(const std::string errorDescription);
 };
 
 /** \brief An exception class to notify that the requested value would have required extrapolation in the future.
@@ -140,10 +125,7 @@ class ForwardExtrapolationException : public ExtrapolationException
 {
 public:
   TF2_PUBLIC
-  explicit ForwardExtrapolationException(const std::string errorDescription)
-  : ExtrapolationException(errorDescription)
-  {
-  }
+  explicit ForwardExtrapolationException(const std::string errorDescription);
 };
 
 /** \brief An exception class to notify that the requested value would have required extrapolation, but only zero or one data is available, so not enough for extrapolation.
@@ -153,10 +135,7 @@ class NoDataForExtrapolationException : public ExtrapolationException
 {
 public:
   TF2_PUBLIC
-  explicit NoDataForExtrapolationException(const std::string errorDescription)
-  : ExtrapolationException(errorDescription)
-  {
-  }
+  explicit NoDataForExtrapolationException(const std::string errorDescription);
 };
 
 /** \brief An exception class to notify that one of the arguments is invalid
@@ -168,8 +147,7 @@ class InvalidArgumentException : public TransformException
 {
 public:
   TF2_PUBLIC
-  explicit InvalidArgumentException(const std::string errorDescription)
-  : tf2::TransformException(errorDescription) {}
+  explicit InvalidArgumentException(const std::string errorDescription);
 };
 
 /** \brief An exception class to notify that a timeout has occurred
@@ -180,10 +158,7 @@ class TimeoutException : public TransformException
 {
 public:
   TF2_PUBLIC
-  explicit TimeoutException(const std::string errorDescription)
-  : tf2::TransformException(errorDescription)
-  {
-  }
+  explicit TimeoutException(const std::string errorDescription);
 };
 }  // namespace tf2
 #endif  // TF2__EXCEPTIONS_HPP_

tf2/include/tf2/transform_storage.hpp

@@ -55,37 +55,16 @@ class TransformStorage
     CompactFrameID child_frame_id);
 
   TF2_PUBLIC
-  TransformStorage(const TransformStorage & rhs)
-  {
-    *this = rhs;
-  }
+  TransformStorage(const TransformStorage & rhs);
 
   TF2_PUBLIC
-  TransformStorage & operator=(const TransformStorage & rhs)
-  {
-    rotation_ = rhs.rotation_;
-    translation_ = rhs.translation_;
-    stamp_ = rhs.stamp_;
-    frame_id_ = rhs.frame_id_;
-    child_frame_id_ = rhs.child_frame_id_;
-    return *this;
-  }
+  TransformStorage & operator=(const TransformStorage & rhs);
 
   TF2_PUBLIC
-  bool operator==(const TransformStorage & rhs) const
-  {
-    return (this->rotation_ == rhs.rotation_) &&
-           (this->translation_ == rhs.translation_) &&
-           (this->stamp_ == rhs.stamp_) &&
-           (this->frame_id_ == rhs.frame_id_) &&
-           (this->child_frame_id_ == rhs.child_frame_id_);
-  }
+  bool operator==(const TransformStorage & rhs) const;
 
   TF2_PUBLIC
-  bool operator!=(const TransformStorage & rhs) const
-  {
-    return !(*this == rhs);
-  }
+  bool operator!=(const TransformStorage & rhs) const;
 
   tf2::Quaternion rotation_;
   tf2::Vector3 translation_;

tf2/src/buffer_core.cpp

@@ -1425,6 +1425,46 @@ void BufferCore::cancelTransformableRequest(TransformableRequestHandle handle)
   transformable_requests_.erase(remove_it, transformable_requests_.end());
 }
 
+void BufferCore::setUsingDedicatedThread(bool value)
+{
+  using_dedicated_thread_ = value;
+}
+
+bool BufferCore::isUsingDedicatedThread() const
+{
+  return using_dedicated_thread_;
+}
+
+CompactFrameID BufferCore::_lookupFrameNumber(const std::string & frameid_str) const
+{
+  return lookupFrameNumber(frameid_str);
+}
+
+CompactFrameID BufferCore::_lookupOrInsertFrameNumber(const std::string & frameid_str)
+{
+  return lookupOrInsertFrameNumber(frameid_str);
+}
+
+tf2::TF2Error BufferCore::_getLatestCommonTime(
+  CompactFrameID target_frame, CompactFrameID source_frame,
+  TimePoint & time, std::string * error_string) const
+{
+  std::unique_lock<std::mutex> lock(frame_mutex_);
+  return getLatestCommonTime(target_frame, source_frame, time, error_string);
+}
+
+CompactFrameID BufferCore::_validateFrameId(
+  const char * function_name_arg,
+  const std::string & frame_id) const
+{
+  return validateFrameId(function_name_arg, frame_id);
+}
+
+tf2::Duration BufferCore::getCacheLength()
+{
+  return cache_time_;
+}
+
 // backwards compatibility for tf methods
 bool BufferCore::_frameExists(const std::string & frame_id_str) const
 {

tf2/src/cache.cpp

@@ -59,6 +59,35 @@ TransformStorage::TransformStorage(
 {
 }
 
+TransformStorage::TransformStorage(const TransformStorage & rhs)
+{
+  *this = rhs;
+}
+
+TransformStorage & TransformStorage::operator=(const TransformStorage & rhs)
+{
+  rotation_ = rhs.rotation_;
+  translation_ = rhs.translation_;
+  stamp_ = rhs.stamp_;
+  frame_id_ = rhs.frame_id_;
+  child_frame_id_ = rhs.child_frame_id_;
+  return *this;
+}
+
+bool TransformStorage::operator==(const TransformStorage & rhs) const
+{
+  return (this->rotation_ == rhs.rotation_) &&
+         (this->translation_ == rhs.translation_) &&
+         (this->stamp_ == rhs.stamp_) &&
+         (this->frame_id_ == rhs.frame_id_) &&
+         (this->child_frame_id_ == rhs.child_frame_id_);
+}
+
+bool TransformStorage::operator!=(const TransformStorage & rhs) const
+{
+  return !(*this == rhs);
+}
+
 TimeCache::TimeCache(tf2::Duration max_storage_time)
 : max_storage_time_(max_storage_time)
 {}