.. _program_listing_file__tmp_ws_src_mocap4r2_mocap4r2_robot_gt_mocap4r2_robot_gt_include_mocap4r2_robot_gt_gt_component.hpp:

Program Listing for File gt_component.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mocap4r2_mocap4r2_robot_gt_mocap4r2_robot_gt_include_mocap4r2_robot_gt_gt_component.hpp>` (``/tmp/ws/src/mocap4r2/mocap4r2_robot_gt/mocap4r2_robot_gt/include/mocap4r2_robot_gt/gt_component.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2022 Intelligent Robotics Lab
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   // Author: Jose Miguel Guerrero Hernandez <josemiguel.guerrero@urjc.es>
   
   #ifndef MOCAP4R2_ROBOT_GT__GTNODE_HPP_
   #define MOCAP4R2_ROBOT_GT__GTNODE_HPP_
   
   
   #include <tf2_ros/buffer.h>
   #include <tf2_ros/transform_listener.h>
   #include <tf2_ros/transform_broadcaster.h>
   
   #include <vector>
   
   #include "mocap4r2_msgs/msg/rigid_bodies.hpp"
   #include "mocap4r2_robot_gt_msgs/srv/set_gt_origin.hpp"
   
   #include "rclcpp/rclcpp.hpp"
   
   
   namespace mocap4r2_robot_gt
   {
   class GTNode : public rclcpp::Node
   {
   public:
     explicit GTNode(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
   
   protected:
     void rigid_bodies_callback(const mocap4r2_msgs::msg::RigidBodies::SharedPtr msg);
     void set_gt_origin_callback(
       const std::shared_ptr<mocap4r2_robot_gt_msgs::srv::SetGTOrigin::Request> req,
       std::shared_ptr<mocap4r2_robot_gt_msgs::srv::SetGTOrigin::Response> resp);
   
     geometry_msgs::msg::Pose get_pose_from_vector(const std::vector<double> & init_pos);
   
     tf2::BufferCore tf_buffer_;
     tf2_ros::TransformListener tf_listener_;
     std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
   
     rclcpp::Subscription<mocap4r2_msgs::msg::RigidBodies>::SharedPtr rigid_body_sub_;
     rclcpp::Service<mocap4r2_robot_gt_msgs::srv::SetGTOrigin>::SharedPtr set_gt_origin_srv_;
   
     std::string root_frame_;
     std::string robot_frame_;
     std::string mocap_frame_;
   
     tf2::Transform offset_;
     tf2::Transform gtbody2robot_;
     tf2::Transform mocap2gtbody_;
   
     bool valid_gtbody2robot_{false};
   
   };
   
   }  // namespace mocap4r2_robot_gt
   
   #endif  // MOCAP4R2_ROBOT_GT__GTNODE_HPP_