tf_link_updater.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2009, 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 #ifndef RVIZ_ROBOT_TF_LINK_UPDATER_H 00031 #define RVIZ_ROBOT_TF_LINK_UPDATER_H 00032 00033 #include "link_updater.h" 00034 00035 #include <string> 00036 #include <boost/function.hpp> 00037 00038 namespace tf 00039 { 00040 class Transformer; 00041 } 00042 00043 namespace rviz 00044 { 00045 00046 class FrameManager; 00047 00048 class TFLinkUpdater : public LinkUpdater 00049 { 00050 public: 00051 typedef boost::function<void(StatusLevel, const std::string&, const std::string&)> StatusCallback; 00052 00053 TFLinkUpdater(FrameManager* frame_manager, const StatusCallback& status_cb = StatusCallback(), const std::string& tf_prefix = std::string()); 00054 virtual bool getLinkTransforms(const std::string& link_name, Ogre::Vector3& visual_position, Ogre::Quaternion& visual_orientation, 00055 Ogre::Vector3& collision_position, Ogre::Quaternion& collision_orientation, bool& apply_offset_transforms) const; 00056 00057 virtual void setLinkStatus(StatusLevel level, const std::string& link_name, const std::string& text) const; 00058 00059 private: 00060 FrameManager* frame_manager_; 00061 StatusCallback status_callback_; 00062 std::string tf_prefix_; 00063 }; 00064 00065 } // namespace rviz 00066 00067 #endif // RVIZ_ROBOT_TF_LINK_UPDATER_H 00068