00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 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 00030 00033 #ifndef TF2_ROS_TRANSFORMBROADCASTER_H 00034 #define TF2_ROS_TRANSFORMBROADCASTER_H 00035 00036 00037 00038 #include "ros/ros.h" 00039 #include "geometry_msgs/TransformStamped.h" 00040 namespace tf2_ros 00041 { 00042 00043 00048 class TransformBroadcaster{ 00049 public: 00051 TransformBroadcaster(); 00052 00055 // void sendTransform(const StampedTransform & transform); 00056 00059 //void sendTransform(const std::vector<StampedTransform> & transforms); 00060 00063 void sendTransform(const geometry_msgs::TransformStamped & transform); 00064 00067 void sendTransform(const std::vector<geometry_msgs::TransformStamped> & transforms); 00068 00069 private: 00071 ros::NodeHandle node_; 00072 ros::Publisher publisher_; 00073 00074 }; 00075 00076 } 00077 00078 #endif //TF_TRANSFORMBROADCASTER_H