00001 00002 #ifndef _UNCERTAIN_TRANSFORM_BROADCASTER_H_ 00003 #define _UNCERTAIN_TRANSFORM_BROADCASTER_H_ 00004 00005 #include "uncertain_tf/UncertainTransformer.h" 00006 #include "tf/transform_broadcaster.h" 00007 00008 namespace uncertain_tf{ 00009 00010 class UncertainTransformBroadcaster : public tf::TransformBroadcaster 00011 { 00012 public: 00013 UncertainTransformBroadcaster(); 00014 00015 void sendCovariance(const StampedCovariance& covariance); 00016 void sendCovariance(const std::vector<StampedCovariance>& covariances); 00017 void sendCovariance(const std::vector<CovarianceStamped>& covariances_msg); 00018 00019 private : 00020 ros::NodeHandle node_; 00021 ros::Publisher publisher_; 00022 }; 00023 00024 00025 } //namespace tf 00026 00027 #endif