transform_broadcaster.h
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00001 /*
00002  * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
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 
00018 #ifndef ROS_TRANSFORM_BROADCASTER_H_
00019 #define ROS_TRANSFORM_BROADCASTER_H_
00020 
00021 #include "tfMessage.h"
00022 
00023 namespace tf
00024 {
00025 
00026   class TransformBroadcaster
00027   {
00028     public:
00029       TransformBroadcaster() : publisher_("/tf", &internal_msg) {}
00030 
00031       void init(ros::NodeHandle &nh)
00032       {
00033         nh.advertise(publisher_);
00034       }
00035 
00036       void sendTransform(geometry_msgs::TransformStamped &transform)
00037       {
00038         internal_msg.transforms_length = 1;
00039         internal_msg.transforms = &transform;
00040         publisher_.publish(&internal_msg);
00041       }
00042 
00043     private:
00044       tf::tfMessage internal_msg;
00045       ros::Publisher publisher_;
00046   };
00047 
00048 }
00049 
00050 #endif
00051 


cob_hand_bridge
Author(s): Mathias L├╝dtke
autogenerated on Thu Jun 6 2019 20:43:57