Public Member Functions
void	publishFixedTransforms ()
void	publishTransforms (const std::map< std::string, double > &joint_positions, const ros::Time &time)
	RobotStatePublisher (const KDL::Tree &tree)
	~RobotStatePublisher ()
	Destructor.
Private Member Functions
void	addChildren (const KDL::SegmentMap::const_iterator segment)
Private Attributes
std::map< std::string, SegmentPair >	segments_
std::map< std::string, SegmentPair >	segments_fixed_
tf::TransformBroadcaster	tf_broadcaster_

Detailed Description

Definition at line 61 of file robot_state_publisher.h.

Constructor & Destructor Documentation

robot_state_publisher::RobotStatePublisher::RobotStatePublisher ( const KDL::Tree & tree )

Constructor

Parameters:

tree	The kinematic model of a robot, represented by a KDL Tree

Definition at line 48 of file robot_state_publisher.cpp.

robot_state_publisher::RobotStatePublisher::~RobotStatePublisher ( ) [inline]

Destructor.

Definition at line 70 of file robot_state_publisher.h.

void robot_state_publisher::RobotStatePublisher::addChildren ( const KDL::SegmentMap::const_iterator segment ) [private]

Definition at line 56 of file robot_state_publisher.cpp.

void robot_state_publisher::RobotStatePublisher::publishFixedTransforms ( )

Definition at line 100 of file robot_state_publisher.cpp.

void robot_state_publisher::RobotStatePublisher::publishTransforms	(	const std::map< std::string, double > &	joint_positions,
		const ros::Time &	time
	)

Publish transforms to tf

Parameters:

joint_positions	A map of joint names and joint positions.
time	The time at which the joint positions were recorded

Definition at line 78 of file robot_state_publisher.cpp.

Definition at line 83 of file robot_state_publisher.h.

Definition at line 83 of file robot_state_publisher.h.

Definition at line 84 of file robot_state_publisher.h.

The documentation for this class was generated from the following files: