tf: tf: transform_broadcaster.h Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 
00033 #ifndef TF_TRANSFORMBROADCASTER_H
00034 #define TF_TRANSFORMBROADCASTER_H
00035 
00036 #include "tf/tf.h"
00037 #include "tf/tfMessage.h"
00038 
00039 //Forward declaring not working
00040 #include "ros/ros.h"
00041 /*namespace ros
00042 {
00043 class NodeHandle;
00044 class Publisher;
00045 }
00046 */
00047 namespace tf
00048 {
00049 
00050 
00055 class TransformBroadcaster{
00056 public:
00058   TransformBroadcaster();
00059 
00062   void sendTransform(const StampedTransform & transform);
00063 
00066   void sendTransform(const std::vector<StampedTransform> & transforms);
00067 
00070   void sendTransform(const geometry_msgs::TransformStamped & transform);
00071 
00074   void sendTransform(const std::vector<geometry_msgs::TransformStamped> & transforms);
00075 
00076 private:
00078   ros::NodeHandle node_;
00079   ros::Publisher publisher_;
00080 
00081   std::string tf_prefix_;
00082 
00083 };
00084 
00085 }
00086 
00087 #endif //TF_TRANSFORMBROADCASTER_H