ObjectTransformation.h

Go to the documentation of this file.

#pragma once

// Global includes
#include <cmath>
#include <vector>

// Package includes
#include <Eigen/Core>

#include <boost/shared_ptr.hpp>

#include <asr_msgs/AsrObject.h>

#include <tf/transform_listener.h>


namespace ProbabilisticSceneRecognition {
  
  class ObjectTransformation {
  public:
    
    ObjectTransformation();
    
    ~ObjectTransformation();
    
    void setBaseFrame(std::string pBaseFrame);
    
    void transform(const boost::shared_ptr<asr_msgs::AsrObject>& pObject);
    
  private:
    
    std::string mBaseFrame;
    
    tf::TransformListener mTfListener;
    
  };
}