tf_link_updater.h
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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 


rviz_qt
Author(s): Dave Hershberger
autogenerated on Fri Dec 6 2013 20:56:53