Singleton in edges

Signed-off-by: Francisco Martin Rico <[email protected]>

Author: fmrico

bica_graph/include/bica_graph/Singleton.h

@@ -39,4 +39,35 @@ class Singleton {
 template< class C >
 C* Singleton<C>::uniqueInstance = NULL;
 
+template< class C, class D >
+class SingletonRef {
+
+public:
+	static C* getInstance(D& ref)
+	{
+		if( SingletonRef<C, D>::uniqueInstance == NULL )
+			SingletonRef<C, D>::uniqueInstance = new C(ref);
+
+		return SingletonRef<C, D>::uniqueInstance;
+	}
+
+	static void removeInstance()
+	{
+		if( SingletonRef<C, D>::uniqueInstance != NULL )
+		{
+			delete SingletonRef<C, D>::uniqueInstance;
+			SingletonRef<C, D>::uniqueInstance = NULL;
+		}
+	}
+
+private:
+	static C *uniqueInstance;
+};
+
+// Initialize the static member CurrentInstance
+template< class C, class D >
+C* SingletonRef<C, D>::uniqueInstance = NULL;
+
+
+
 #endif /* SINGLETON_H_ */

bica_graph/include/bica_graph/edge.h

@@ -102,6 +102,7 @@ class DoubleEdge
 class BicaTransformBuffer: public Singleton<tf2_ros::Buffer> {};
 class BicaTransformBroadcaster: public Singleton<tf2_ros::TransformBroadcaster> {};
 class BicaStaticTransformBroadcaster: public Singleton<tf2_ros::StaticTransformBroadcaster> {};
+class BicaTransformListener: public SingletonRef<tf2_ros::TransformListener, tf2_ros::Buffer>{};
 
 class TFEdge
 {
@@ -125,8 +126,9 @@ class TFEdge
 
   ros::NodeHandle nh_;
 
-  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
+  // std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
 
+  tf2_ros::TransformListener *tf_listener_;
   tf2_ros::Buffer *tfBuffer;
   tf2_ros::TransformBroadcaster *tf_broadcaster_;
   tf2_ros::StaticTransformBroadcaster *static_tf_broadcaster_;

bica_graph/src/bica_graph/edge.cpp

@@ -87,7 +87,8 @@ TFEdge::TFEdge(const std::string& source, const tf2::Transform& data, const std:
   tf_broadcaster_ = BicaTransformBroadcaster::getInstance();
   static_tf_broadcaster_ = BicaStaticTransformBroadcaster::getInstance();
   tfBuffer = BicaTransformBuffer::getInstance();
-  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tfBuffer);
+  tf_listener_ = BicaTransformListener::getInstance(*tfBuffer);
+  //std::make_shared<tf2_ros::TransformListener>(*tfBuffer);
 
   publish_transform(source_, target_, data);
 }
@@ -101,7 +102,7 @@ TFEdge::TFEdge(const std::string& source, const std::string& target, bool static
   tf_broadcaster_ = BicaTransformBroadcaster::getInstance();
   static_tf_broadcaster_ = BicaStaticTransformBroadcaster::getInstance();
   tfBuffer = BicaTransformBuffer::getInstance();
-  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tfBuffer);
+  tf_listener_ = BicaTransformListener::getInstance(*tfBuffer);
 }
 
 TFEdge::TFEdge(const TFEdge& other)
@@ -113,7 +114,7 @@ TFEdge::TFEdge(const TFEdge& other)
   tf_broadcaster_ = BicaTransformBroadcaster::getInstance();
   static_tf_broadcaster_ = BicaStaticTransformBroadcaster::getInstance();
   tfBuffer = BicaTransformBuffer::getInstance();
-  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tfBuffer);
+  tf_listener_ = BicaTransformListener::getInstance(*tfBuffer);
 }
 
 const tf2::Transform