tf_remapper.h
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1 #ifndef TF_REMAPPER_CPP_TF_REMAPPER_H
2 #define TF_REMAPPER_CPP_TF_REMAPPER_H
3 
4 #include <XmlRpc.h>
5 #include <tf2_msgs/TFMessage.h>
6 
7 namespace tf_remapper_cpp {
8 
10 class TfRemapper {
11 public:
12  typedef std::map<std::string, std::string> MappingsType;
13 
15  TfRemapper();
16 
21  explicit TfRemapper(MappingsType mappings, bool reverse = false);
22 
30  explicit TfRemapper(const XmlRpc::XmlRpcValue& mappingsParam, bool reverse = false);
31 
32  virtual ~TfRemapper();
33 
36  void doRemapping(tf2_msgs::TFMessage& message) const;
37 
41  tf2_msgs::TFMessage doRemapping(const tf2_msgs::TFMessage& inMessage) const;
42 
45  const MappingsType& getMappings() const;
46 
47 protected:
50 };
51 
52 };
53 
54 #endif //TF_REMAPPER_CPP_TF_REMAPPER_H
tf_remapper_cpp
Definition: tf_remapper.h:7
tf_remapper_cpp::TfRemapper::TfRemapper
TfRemapper()
Empty constructor with no remappings.
Definition: tf_remapper.cpp:5
tf_remapper_cpp::TfRemapper::getMappings
const MappingsType & getMappings() const
Get the mappings this remapper uses.
Definition: tf_remapper.cpp:92
tf_remapper_cpp::TfRemapper::~TfRemapper
virtual ~TfRemapper()
Definition: tf_remapper.cpp:7
tf_remapper_cpp::TfRemapper::MappingsType
std::map< std::string, std::string > MappingsType
Definition: tf_remapper.h:12
XmlRpc.h
tf_remapper_cpp::TfRemapper
Remap frames in TF messages according to given rules.
Definition: tf_remapper.h:10
tf_remapper_cpp::TfRemapper::doRemapping
void doRemapping(tf2_msgs::TFMessage &message) const
Rewrite TF frame names according to the rules given in constructor.
Definition: tf_remapper.cpp:68
tf_remapper_cpp::TfRemapper::mappings
MappingsType mappings
The mappings (keys are old frame names, values are remapped names).
Definition: tf_remapper.h:49
XmlRpc::XmlRpcValue


tf_remapper_cpp
Author(s): Martin Pecka
autogenerated on Mon May 2 2022 02:25:06