00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #include <jsk_topic_tools/log_utils.h> 00037 #include "jsk_recognition_utils/tf_listener_singleton.h" 00038 #include <boost/format.hpp> 00039 00040 namespace jsk_recognition_utils 00041 { 00042 tf::TransformListener* TfListenerSingleton::getInstance() 00043 { 00044 boost::mutex::scoped_lock lock(mutex_); 00045 if (!instance_) { 00046 JSK_ROS_INFO("instantiating tf::TransformListener"); 00047 instance_ = new tf::TransformListener(ros::Duration(30.0)); 00048 } 00049 return instance_; 00050 } 00051 00052 void TfListenerSingleton::destroy() 00053 { 00054 boost::mutex::scoped_lock lock(mutex_); 00055 if (instance_) { 00056 delete instance_; 00057 } 00058 } 00059 00060 tf::StampedTransform lookupTransformWithDuration( 00061 tf::TransformListener* listener, 00062 const std::string& to_frame, 00063 const std::string& from_frame, 00064 const ros::Time& stamp, 00065 ros::Duration duration) 00066 { 00067 if (listener->waitForTransform(from_frame, to_frame, stamp, duration)) { 00068 tf::StampedTransform transform; 00069 listener->lookupTransform( 00070 from_frame, to_frame, stamp, transform); 00071 return transform; 00072 } 00073 throw tf2::TransformException( 00074 (boost::format("Failed to lookup transformation from %s to %s") 00075 % from_frame.c_str() % to_frame.c_str()).str().c_str()); 00076 00077 } 00078 00079 tf::TransformListener* TfListenerSingleton::instance_; 00080 boost::mutex TfListenerSingleton::mutex_; 00081 }