transform_broadcaster.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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#ifndef TF_TRANSFORMBROADCASTER_H
#define TF_TRANSFORMBROADCASTER_H
 
#include "tf/tf.h"
#include "tf/tfMessage.h"
 
#include <tf2_ros/transform_broadcaster.h>
 
 
namespace tf
{
 
 
class TransformBroadcaster{
public:
  TransformBroadcaster();
 
  void sendTransform(const StampedTransform & transform);
 
  void sendTransform(const std::vector<StampedTransform> & transforms);
 
  void sendTransform(const geometry_msgs::TransformStamped & transform);
 
  void sendTransform(const std::vector<geometry_msgs::TransformStamped> & transforms);
 
private:
 
  tf2_ros::TransformBroadcaster tf2_broadcaster_;
 
};
 
}
 
#endif //TF_TRANSFORMBROADCASTER_H