tf_remapper.h

Go to the documentation of this file.

#ifndef TF_REMAPPER_CPP_TF_REMAPPER_H
#define TF_REMAPPER_CPP_TF_REMAPPER_H
 
#include <XmlRpc.h>
#include <tf2_msgs/TFMessage.h>
 
namespace tf_remapper_cpp {
 
class TfRemapper {
public:
    typedef std::map<std::string, std::string> MappingsType;
 
    TfRemapper();
 
    explicit TfRemapper(MappingsType mappings, bool reverse = false);
 
    explicit TfRemapper(const XmlRpc::XmlRpcValue& mappingsParam, bool reverse = false);
 
    virtual ~TfRemapper();
 
    void doRemapping(tf2_msgs::TFMessage& message) const;
 
    tf2_msgs::TFMessage doRemapping(const tf2_msgs::TFMessage& inMessage) const;
 
    const MappingsType& getMappings() const;
 
protected:
    MappingsType mappings;
};
 
};
 
#endif //TF_REMAPPER_CPP_TF_REMAPPER_H