frame_manager.h

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef RVE_TRANSFORMER_FRAME_MANAGER_H
#define RVE_TRANSFORMER_FRAME_MANAGER_H

#include <string>
#include <geometry_msgs/TransformStamped.h>
#include <ros/ros.h>

namespace tf2
{
class TransformListener;
class BufferCore;
}

namespace rve_transformer
{

class FrameManager
{
public:
  FrameManager(ros::NodeHandle& nh);
  void setFixedFrame(const std::string& frame);
  std::string getFixedFrame() const { return fixed_frame_; }
  geometry_msgs::TransformStamped lookupTransform( const std::string& frame, ros::Time time) const;
  
private:
  std::string fixed_frame_;
  boost::shared_ptr<tf2::TransformListener> tf2_listener_;
  boost::shared_ptr<tf2::BufferCore> bc_;
};

typedef boost::shared_ptr<FrameManager> FrameManagerPtr;
}

#endif // RVE_TRANSFORMER_FRAME_MANAGER_H