robot_state_publisher.h
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00034 
00035 /* Author: Wim Meeussen */
00036 
00037 #ifndef ROBOT_STATE_PUBLISHER_H
00038 #define ROBOT_STATE_PUBLISHER_H
00039 
00040 #include <ros/ros.h>
00041 #include <boost/scoped_ptr.hpp>
00042 #include <tf/tf.h>
00043 #include <tf/transform_broadcaster.h>
00044 #include <kdl/frames.hpp>
00045 #include <kdl/segment.hpp>
00046 #include <kdl/tree.hpp>
00047 
00048 namespace robot_state_publisher{
00049 
00050 class SegmentPair
00051 {
00052 public:
00053   SegmentPair(const KDL::Segment& p_segment, const std::string& p_root, const std::string& p_tip):
00054     segment(p_segment), root(p_root), tip(p_tip){}
00055 
00056   KDL::Segment segment;
00057   std::string root, tip;
00058 };
00059 
00060 
00061 class RobotStatePublisher
00062 {
00063 public:
00067   RobotStatePublisher(const KDL::Tree& tree);
00068 
00070   ~RobotStatePublisher(){};
00071 
00076   void publishTransforms(const std::map<std::string, double>& joint_positions, const ros::Time& time);
00077   void publishFixedTransforms();
00078 
00079 private:
00080   void addChildren(const KDL::SegmentMap::const_iterator segment);
00081 
00082 
00083   std::map<std::string, SegmentPair> segments_, segments_fixed_;
00084   tf::TransformBroadcaster tf_broadcaster_;
00085 };
00086 
00087 
00088 
00089 }
00090 
00091 #endif
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robot_state_publisher
Author(s): Wim Meeussen meeussen@willowgarage.com
autogenerated on Mon Aug 19 2013 11:02:17