TransformBroadcaster.h
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00001 /*
00002  * Copyright (C) 2016, Bielefeld University, CITEC
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  * Author: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
00030  */
00031 
00032 #pragma once
00033 
00034 #include <QObject>
00035 #include <tf2_ros/static_transform_broadcaster.h>
00036 #include <geometry_msgs/Pose.h>
00037 #include <Eigen/Geometry>
00038 
00042 class TransformBroadcaster : public QObject
00043 {
00044   Q_OBJECT
00045 public:
00046   explicit TransformBroadcaster(const QString &parent_frame="",
00047                                 const QString &child_frame="",
00048                                 QObject *parent = 0);
00049 
00050   const geometry_msgs::TransformStamped& value() const;
00051   void setValue(const geometry_msgs::TransformStamped &tf);
00052   void setPose(const geometry_msgs::Pose &pose);
00053 
00054   bool enabled() const;
00055 
00056 public slots:
00057   void setEnabled(bool bEnabled=true);
00058   void setDisabled(bool bDisabled=true);
00059 
00060   void setParentFrame(const QString &frame);
00061   void setChildFrame(const QString &frame);
00062 
00063   void setPosition(const Eigen::Vector3d &p);
00064   void setQuaternion(const Eigen::Quaterniond &q);
00065 
00066   void setPosition(double x, double y, double z);
00067   void setQuaternion(double x, double y, double z, double w);
00068 
00069 protected:
00070   void send();
00071   void check();
00072 
00073 private:
00074   tf2_ros::StaticTransformBroadcaster broadcaster_;
00075   geometry_msgs::TransformStamped msg_;
00076   bool valid_;
00077   bool enabled_;
00078 };


agni_tf_tools
Author(s): Robert Haschke
autogenerated on Sat Jun 8 2019 21:01:20