tf_listener_singleton.cpp

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// -*- mode: c++ -*-
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#include <jsk_topic_tools/log_utils.h>
#include "jsk_recognition_utils/tf_listener_singleton.h"
#include <boost/format.hpp>

namespace jsk_recognition_utils
{
  tf::TransformListener* TfListenerSingleton::getInstance()
  {
    boost::mutex::scoped_lock lock(mutex_);
    if (!instance_) {
      ROS_INFO("instantiating tf::TransformListener");
      instance_ = new tf::TransformListener(ros::Duration(30.0));
    }
    return instance_;
  }

  void TfListenerSingleton::destroy()
  {
    boost::mutex::scoped_lock lock(mutex_);
    if (instance_) {
      delete instance_;
    }
  }

  tf::StampedTransform lookupTransformWithDuration(
    tf::TransformListener* listener,
    const std::string& to_frame,
    const std::string& from_frame,
    const ros::Time& stamp,
    ros::Duration duration)
  {
    if (listener->waitForTransform(from_frame, to_frame, stamp, duration)) {
      tf::StampedTransform transform;
      listener->lookupTransform(
        from_frame, to_frame, stamp, transform);
      return transform;
    }
    throw tf2::TransformException(
      (boost::format("Failed to lookup transformation from %s to %s")
       % from_frame.c_str() % to_frame.c_str()).str().c_str());
      
  }
  
  tf::TransformListener* TfListenerSingleton::instance_;
  boost::mutex TfListenerSingleton::mutex_;
}