tf_listener_singleton.h

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// -*- mode: c++ -*-
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#ifndef JSK_RECOGNITION_UTILS_TF_LISTENER_SINGLETON_H_
#define JSK_RECOGNITION_UTILS_TF_LISTENER_SINGLETON_H_

#include <tf/transform_listener.h>

namespace jsk_recognition_utils
{
  class TfListenerSingleton
  {
  public:
    static tf::TransformListener* getInstance();
    static void destroy();
  protected:
    static tf::TransformListener* instance_;
    static boost::mutex mutex_;
  private:
    TfListenerSingleton(TfListenerSingleton const&){};
    TfListenerSingleton& operator=(TfListenerSingleton const&){};
  };

  // tf Utility
  tf::StampedTransform lookupTransformWithDuration(
    tf::TransformListener* listener,
    const std::string& to_frame,
    const std::string& from_frame,
    const ros::Time& stamp,
    ros::Duration duration);
}

#endif