template <typename T>

class Stamped : public T{

 public:

  ros::Time stamp_;

  std::string frame_id_;

  Stamped() :frame_id_ ("NO_ID_STAMPED_DEFAULT_CONSTRUCTION"){}; //Default constructor used only for preallocation

  Stamped(const T& input, const ros::Time& timestamp, const std::string & frame_id);

  void setData(const T& input);

};

/** \brief The Stamped Transform datatype used by tf */

class StampedTransform : public tf::Transform

{

public:

  ros::Time stamp_; ///< The timestamp associated with this transform

  std::string frame_id_; ///< The frame_id of the coordinate frame  in which this transform is defined

  std::string child_frame_id_; ///< The frame_id of the coordinate frame this transform defines

  StampedTransform(const tf::Transform& input, const ros::Time& 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){ };

  /** \brief Default constructor only to be used for preallocation */

  StampedTransform() { };

  /** \brief Set the inherited Traonsform data */

  void setData(const tf::Transform& input){*static_cast<tf::Transform*>(this) = input;};

};