tf_listener_singleton.cpp
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35 
38 #include <boost/format.hpp>
39 
40 namespace jsk_recognition_utils
41 {
43  {
44  boost::mutex::scoped_lock lock(mutex_);
45  if (!instance_) {
46  ROS_INFO("instantiating tf::TransformListener");
48  }
49  return instance_;
50  }
51 
53  {
54  boost::mutex::scoped_lock lock(mutex_);
55  if (instance_) {
56  delete instance_;
57  }
58  }
59 
61  tf::TransformListener* listener,
62  const std::string& to_frame,
63  const std::string& from_frame,
64  const ros::Time& stamp,
65  ros::Duration duration)
66  {
67  if (listener->waitForTransform(from_frame, to_frame, stamp, duration)) {
68  tf::StampedTransform transform;
69  listener->lookupTransform(
70  from_frame, to_frame, stamp, transform);
71  return transform;
72  }
74  (boost::format("Failed to lookup transformation from %s to %s")
75  % from_frame.c_str() % to_frame.c_str()).str().c_str());
76 
77  }
78 
80  boost::mutex TfListenerSingleton::mutex_;
81 }
tf::StampedTransform lookupTransformWithDuration(tf::TransformListener *listener, const std::string &to_frame, const std::string &from_frame, const ros::Time &stamp, ros::Duration duration)
bool waitForTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration &timeout, const ros::Duration &polling_sleep_duration=ros::Duration(0.01), std::string *error_msg=NULL) const
#define ROS_INFO(...)
string str
void lookupTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &time, StampedTransform &transform) const
static tf::TransformListener * getInstance()


jsk_recognition_utils
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autogenerated on Tue Mar 3 2020 03:59:38