mocap_config.h
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00001 /*
00002  *      _____
00003  *     /  _  \
00004  *    / _/ \  \
00005  *   / / \_/   \
00006  *  /  \_/  _   \  ___  _    ___   ___   ____   ____   ___   _____  _   _
00007  *  \  / \_/ \  / /  _\| |  | __| / _ \ | ++ \ | ++ \ / _ \ |_   _|| | | |
00008  *   \ \_/ \_/ /  | |  | |  | ++ | |_| || ++ / | ++_/| |_| |  | |  | +-+ |
00009  *    \  \_/  /   | |_ | |_ | ++ |  _  || |\ \ | |   |  _  |  | |  | +-+ |
00010  *     \_____/    \___/|___||___||_| |_||_| \_\|_|   |_| |_|  |_|  |_| |_|
00011  *             ROBOTICS™ 
00012  *
00013  *  File: mocap_config.h
00014  *  Desc: Classes representing ROS configuration for mocap_optitrack node. Data
00015  *  will be published to differed topics based on the configuration provided.
00016  *  Auth: Alex Bencz
00017  *
00018  *  Copyright (c) 2012, Clearpath Robotics, Inc. 
00019  *  All Rights Reserved
00020  * 
00021  * Redistribution and use in source and binary forms, with or without
00022  * modification, are permitted provided that the following conditions are met:
00023  *     * Redistributions of source code must retain the above copyright
00024  *       notice, this list of conditions and the following disclaimer.
00025  *     * Redistributions in binary form must reproduce the above copyright
00026  *       notice, this list of conditions and the following disclaimer in the
00027  *       documentation and/or other materials provided with the distribution.
00028  *     * Neither the name of Clearpath Robotics, Inc. nor the
00029  *       names of its contributors may be used to endorse or promote products
00030  *       derived from this software without specific prior written permission.
00031  * 
00032  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00033  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00034  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00035  * DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY
00036  * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00037  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00038  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00039  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00040  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00041  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00042  * 
00043  * Please send comments, questions, or patches to skynet@clearpathrobotics.com 
00044  *
00045  */
00046 
00047 #ifndef __MOCAP_CONFIG_H__
00048 #define __MOCAP_CONFIG_H__
00049 
00050 #include <ros/ros.h>
00051 #include <tf/transform_broadcaster.h>
00052 #include "mocap_datapackets.h"
00053 
00054 class PublishedRigidBody
00055 {
00056   private:
00057   ros::NodeHandle n;
00058 
00059   std::string pose_topic;
00060   std::string pose2d_topic;
00061   std::string frame_id;
00062 
00063   bool publish_pose;
00064   bool publish_tf;
00065   bool publish_pose2d;
00066 
00067   tf::TransformBroadcaster tf_pub;
00068   ros::Publisher pose_pub;
00069   ros::Publisher pose2d_pub;
00070 
00071   bool validateParam(XmlRpc::XmlRpcValue &, const std::string &);
00072 
00073   public:
00074   PublishedRigidBody(XmlRpc::XmlRpcValue &);
00075   void publish(RigidBody &);
00076 };
00077 
00078 typedef std::map<int, PublishedRigidBody> RigidBodyMap;
00079 typedef std::pair<int, PublishedRigidBody> RigidBodyItem;
00080 
00081 #endif // __MOCAP_CONFIG_H__
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mocap_optitrack
Author(s): Kathrin Gräve/graeve@ais.uni-bonn.de, Alex Bencz/abencz@clearpathrobotics.com
autogenerated on Tue Oct 15 2013 10:27:57