ros_tfMessage_transport_plugin.cpp

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#include <tf/boost/tfMessage.h>
#include "ros_msg_transporter.hpp"
#include "RosLib.hpp"
#include <rtt/types/TransportPlugin.hpp>
#include <rtt/types/TypekitPlugin.hpp>

namespace ros_integration {
  using namespace RTT;
    struct ROStfMessagePlugin
      : public types::TransportPlugin
    {
      bool registerTransport(std::string name, types::TypeInfo* ti)
      {
        if(name == "/tf/tfMessage")
          return ti->addProtocol(ORO_ROS_PROTOCOL_ID,new RosMsgTransporter<tf::tfMessage>());
        return false;
      }
      
      std::string getTransportName() const {
        return "ros";
      }
      
      std::string getTypekitName() const {
        return std::string("ros-")+"tfMessage";
      }
      std::string getName() const {
        return std::string("rtt-ros-") + "tfMessage" + "-transport";
      }

    };
}

ORO_TYPEKIT_PLUGIN( ros_integration::ROStfMessagePlugin )

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rtt_tf
Author(s): Ruben Smits, ruben.smits@mech.kuleuven.be
autogenerated on Fri Jan 11 09:12:21 2013