rtt_tf-component.hpp
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00001 #ifndef OROCOS_RTT_TF_COMPONENT_HPP
00002 #define OROCOS_RTT_TF_COMPONENT_HPP
00003 
00004 #include <rtt/RTT.hpp>
00005 #include <tf/tf.h>
00006 #include <tf/tfMessage.h>
00007 
00008 namespace rtt_tf
00009 {
00010   // Inherit from TaskContext and Transformer, the second is required in order to use tf_prefix
00011   class RTT_TF: public RTT::TaskContext, protected tf::Transformer
00012   {
00013     static const int DEFAULT_BUFFER_SIZE = 100;
00014 
00015     boost::shared_ptr<tf::Transformer> m_transformer;
00016     double prop_cache_time;
00017     double prop_buffer_size;
00018     std::string prop_tf_prefix;
00019 
00020     RTT::InputPort<tf::tfMessage> port_tf_in;
00021     RTT::OutputPort<tf::tfMessage> port_tf_out;
00022 
00023     bool canTransform(
00024         const std::string& parent,
00025         const std::string& child);
00026 
00027     geometry_msgs::TransformStamped lookupTransform(
00028         const std::string& parent,
00029         const std::string& child);
00030 
00031     geometry_msgs::TransformStamped lookupTransformAtTime(
00032         const std::string& parent,
00033         const std::string& child,
00034         const ros::Time& common_time);
00035 
00036     void broadcastTransform(
00037         const geometry_msgs::TransformStamped &tform);
00038 
00039     void broadcastTransforms(
00040         const std::vector<geometry_msgs::TransformStamped> &tforms);
00041 
00042     void addTFOperations(RTT::Service::shared_ptr service);
00043 
00044   public:
00045     RTT_TF(std::string const& name);
00046 
00047     bool configureHook();
00048 
00049     bool startHook(){return true;};
00050 
00051     void updateHook();
00052 
00053     void stopHook(){};
00054 
00055     void cleanupHook(){};
00056   };
00057 }//namespace rtt_tf
00058 #endif


rtt_tf
Author(s): Ruben Smits
autogenerated on Thu Jun 6 2019 18:07:05