cartographer_ros: urdf_reader.h Source File

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00001 /*
00002  * Copyright 2016 The Cartographer Authors
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_URDF_READER_H
00018 #define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_URDF_READER_H
00019 
00020 #include <vector>
00021 
00022 #include "cartographer/common/port.h"
00023 #include "tf2_ros/buffer.h"
00024 
00025 namespace cartographer_ros {
00026 
00027 std::vector<geometry_msgs::TransformStamped> ReadStaticTransformsFromUrdf(
00028     const std::string& urdf_filename, tf2_ros::Buffer* tf_buffer);
00029 
00030 }  // namespace cartographer_ros
00031 
00032 #endif  // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_URDF_READER_H