frame_manager.cpp

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/*
 * Copyright (c) 2011, 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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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include "rve_transformer/frame_manager.h"
#include <tf2_ros/transform_listener.h>
#include <tf2/buffer_core.h>

namespace rve_transformer
{

FrameManager::FrameManager(ros::NodeHandle& nh)
{
  bc_ = boost::shared_ptr<tf2::BufferCore>(new tf2::BufferCore(/*ros::Duration(10*60)*/));
  tf2_listener_ = boost::shared_ptr<tf2::TransformListener>(new tf2::TransformListener(*bc_, nh, false));
}

void FrameManager::setFixedFrame(const std::string& frame)
{
  fixed_frame_ = frame;
}

geometry_msgs::TransformStamped FrameManager::lookupTransform( const std::string& frame, ros::Time time) const
{
  return bc_->lookupTransform( fixed_frame_, frame, time );
}

} // namespace rve_transformer