tfConnector.h

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#include "ros/ros.h"
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
#include "tf/tfMessage.h"

class tfConnector {
        public:
                static tfConnector* instance;
        
                tfConnector();
                int lookupTransform(char* goal, char* origin, double *out);
        
                tf::TransformListener *listener;
};