text: /*
  **
  **  Copyright (c) 2020 Japan Aerospace Exploration Agency.
  **  All Rights Reserved.
  **
  **  This file is covered by the LICENSE.txt in the root of this project.
  **
  */
  #ifndef STAMPED_TRANSFORM_H
  #define STAMPED_TRANSFORM_H
  
  #include "../../std_msgs/RosTime.h"
  #include "Transform.h"
  #include <string>
  extern "C" {
  namespace tf {
  class StampedTransform : public tf::Transform {
  public:
    // Convert
    // ros::Time stamp_;
    RosTime stamp_;
    std::string frame_id_;
    std::string child_frame_id_;
    // StampedTransform(const tf::Transform& input, const ros::Time& timestamp,
    // const std::string & frame_id, const std::string & child_frame_id):
    StampedTransform(const tf::Transform &input, const RosTime &timestamp,
                     const std::string &frame_id,
                     const std::string &child_frame_id)
        : tf::Transform(input), stamp_(timestamp), frame_id_(frame_id),
          child_frame_id_(child_frame_id){};
  
    StampedTransform(){};
  
    void setData(const tf::Transform &input) {
      *static_cast<tf::Transform *>(this) = input;
    };
  };
  }
  }
  
  #endif // STAMPED_TRANSFORM_H