frame_manager.cpp
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00001 /*
00002  * Copyright (c) 2011, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include "rve_transformer/frame_manager.h"
00031 #include <tf2_ros/transform_listener.h>
00032 #include <tf2/buffer_core.h>
00033 
00034 namespace rve_transformer
00035 {
00036 
00037 FrameManager::FrameManager(ros::NodeHandle& nh)
00038 {
00039   bc_ = boost::shared_ptr<tf2::BufferCore>(new tf2::BufferCore(/*ros::Duration(10*60)*/));
00040   tf2_listener_ = boost::shared_ptr<tf2::TransformListener>(new tf2::TransformListener(*bc_, nh, false));
00041 }
00042 
00043 void FrameManager::setFixedFrame(const std::string& frame)
00044 {
00045   fixed_frame_ = frame;
00046 }
00047 
00048 geometry_msgs::TransformStamped FrameManager::lookupTransform( const std::string& frame, ros::Time time) const
00049 {
00050   return bc_->lookupTransform( fixed_frame_, frame, time );
00051 }
00052 
00053 } // namespace rve_transformer


rve_transformer
Author(s): Josh Faust
autogenerated on Wed Dec 11 2013 14:31:51