Program Listing for File tf_link_updater.hpp
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/*
* Copyright (c) 2009, Willow Garage, Inc.
* Copyright (c) 2018, Bosch Software Innovations GmbH.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef RVIZ_DEFAULT_PLUGINS__ROBOT__TF_LINK_UPDATER_HPP_
#define RVIZ_DEFAULT_PLUGINS__ROBOT__TF_LINK_UPDATER_HPP_
#include <functional>
#include <string>
#include "link_updater.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace tf
{
class Transformer;
}
namespace rviz_common
{
class FrameManagerIface;
}
namespace rviz_default_plugins
{
namespace robot
{
class RVIZ_DEFAULT_PLUGINS_PUBLIC TFLinkUpdater : public LinkUpdater
{
public:
typedef std::function<void (StatusLevel, const std::string &, const std::string &)>
StatusCallback;
explicit TFLinkUpdater(
rviz_common::FrameManagerIface * frame_manager,
const StatusCallback & status_cb = StatusCallback(),
const std::string & tf_prefix = std::string());
bool getLinkTransforms(
const std::string & link_name,
Ogre::Vector3 & visual_position,
Ogre::Quaternion & visual_orientation,
Ogre::Vector3 & collision_position,
Ogre::Quaternion & collision_orientation) const override;
void setLinkStatus(
StatusLevel level, const std::string & link_name, const std::string & text) const override;
private:
rviz_common::FrameManagerIface * frame_manager_;
StatusCallback status_callback_;
std::string tf_prefix_;
};
} // namespace robot
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__ROBOT__TF_LINK_UPDATER_HPP_