00001 #ifndef __TransformPublisher__ 00002 #define __TransformPublisher__ 00003 00004 #include <ros/ros.h> 00005 00006 #include <LinearMath/btVector3.h> 00007 #include <LinearMath/btQuaternion.h> 00008 #include <tf/transform_broadcaster.h> 00009 00010 #include "aruco/aruco.h" 00011 00012 class TransformPublisher 00013 { 00014 private: tf::TransformBroadcaster transformBroadcaster; 00015 00016 public: void publishTransform(std_msgs::Header imageHeader, aruco::Marker marker, btVector3 position, btQuaternion orientation); 00017 }; 00018 00019 #endif