transform_listener.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 *       this software without specific prior written permission.
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#ifndef TF2_ROS_TRANSFORMLISTENER_H
#define TF2_ROS_TRANSFORMLISTENER_H

#include "std_msgs/Empty.h"
#include "tf2_msgs/TFMessage.h"
#include "ros/ros.h"
#include "ros/callback_queue.h"

#include "tf2_ros/buffer.h"

#include "boost/thread.hpp"

namespace tf2_ros{

class TransformListener
{

public:
  TransformListener(tf2::BufferCore& buffer, bool spin_thread = true);
  TransformListener(tf2::BufferCore& buffer, const ros::NodeHandle& nh, bool spin_thread = true);

  ~TransformListener();

private:

  void init();
  void initWithThread();

  void subscription_callback(const ros::MessageEvent<tf2_msgs::TFMessage const>& msg_evt);
  void static_subscription_callback(const ros::MessageEvent<tf2_msgs::TFMessage const>& msg_evt);
  void subscription_callback_impl(const ros::MessageEvent<tf2_msgs::TFMessage const>& msg_evt, bool is_static);

  ros::CallbackQueue tf_message_callback_queue_;
  boost::thread* dedicated_listener_thread_;
  ros::NodeHandle node_;
  ros::Subscriber message_subscriber_tf_;
  ros::Subscriber message_subscriber_tf_static_;
  tf2::BufferCore& buffer_;
  bool using_dedicated_thread_;
  ros::Time last_update_;
 
  void dedicatedListenerThread()
  {
    while (using_dedicated_thread_)
    {
      tf_message_callback_queue_.callAvailable(ros::WallDuration(0.01));
    }
  };

};
}

#endif //TF_TRANSFORMLISTENER_H