robot_state_publisher.h

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#ifndef DYNAMIC_ROBOT_STATE_PUBLISHER_ROBOT_STATE_PUBLISHER_H
#define DYNAMIC_ROBOT_STATE_PUBLISHER_ROBOT_STATE_PUBLISHER_H

#include <robot_state_publisher/robot_state_publisher.h>

namespace robot_state_publisher
{
class DynamicRobotStatePublisher
{
public:
  const std::string DELETED_STATIC_TFS_FRAME = "__deleted_static_tfs__";

  explicit DynamicRobotStatePublisher(RobotStatePublisher *publisher);

  virtual void updateTree(const KDL::Tree& tree);

  virtual size_t getNumMovingJoints() const;

  virtual size_t getNumFixedJoints() const;

protected:
  RobotStatePublisher *publisher;
};
}

#endif //DYNAMIC_ROBOT_STATE_PUBLISHER_ROBOT_STATE_PUBLISHER_H