38 #include <boost/format.hpp> 44 boost::mutex::scoped_lock lock(
mutex_);
46 ROS_INFO(
"instantiating tf::TransformListener");
54 boost::mutex::scoped_lock lock(
mutex_);
62 const std::string& to_frame,
63 const std::string& from_frame,
70 from_frame, to_frame, stamp, transform);
74 (
boost::format(
"Failed to lookup transformation from %s to %s")
75 % from_frame.c_str() % to_frame.c_str()).
str().c_str());
static tf::TransformListener * instance_
tf::StampedTransform lookupTransformWithDuration(tf::TransformListener *listener, const std::string &to_frame, const std::string &from_frame, const ros::Time &stamp, ros::Duration duration)
static tf::TransformListener * getInstance()
static boost::mutex mutex_