nodelet_aware_tf_buffer.h

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#pragma once

#include <memory>

#include <nodelet/nodelet.h>
#include <ros/duration.h>
#include <tf2/buffer_core.h>

#include <cras_cpp_common/tf2_utils/interruptible_buffer.h>

namespace cras
{

class NodeletAwareTFBuffer : public ::cras::InterruptibleTFBuffer
{
public:
  explicit NodeletAwareTFBuffer(const ::nodelet::Nodelet& nodelet,
    const ::ros::Duration& cacheTime = ::ros::Duration(::tf2::BufferCore::DEFAULT_CACHE_TIME));

  NodeletAwareTFBuffer(const ::nodelet::Nodelet& nodelet,
    const ::std::shared_ptr<::tf2::BufferCore>& parentBuffer);

  ~NodeletAwareTFBuffer() override;

  bool ok() const override;

protected:
  const ::nodelet::Nodelet& nodelet;
};

}