text: #include <iostream>
  #include "ros/ros.h"
  #include "nav_msgs/Odometry.h"
  #include "registration/getTransform.h"
  
  #include <pcl/point_types.h>
  
  class Transformation{
  
      public:
          Transformation();
          void calculateTransform(const nav_msgs::Odometry::ConstPtr& odom);
          bool sendTransform(registration::getTransform::Request &req,registration::getTransform::Response &res);
  	
      private: 
          static std::map<int, Eigen::Matrix4f> time_data;
          ros::NodeHandle nh;
          ros::Subscriber subscriber;
          ros::ServiceServer service;
  
  
  
  
  };