tf_manager.hpp

Go to the documentation of this file.

#ifndef __TF_MANAGER__
#define __TF_MANAGER__

#include <geometry_msgs/PoseStamped.h>
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <generic_control_toolbox/manager_base.hpp>

namespace generic_control_toolbox
{
class TFManager : public ManagerBase
{
 public:
  TFManager(ros::NodeHandle nh = ros::NodeHandle("~"));
  ~TFManager() {}

  bool getPoseInFrame(const std::string &frame,
                      const geometry_msgs::PoseStamped &pose,
                      geometry_msgs::PoseStamped &out);

 private:
  bool getParam();

  ros::NodeHandle nh_;
  int max_tf_attempts_;
  tf::TransformListener listener_;
};
}  // namespace generic_control_toolbox
#endif