rigid_body_publisher.h

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/*
 * Copyright (c) 2018, Houston Mechatronics Inc., JD Yamokoski
 * Copyright (c) 2012, Clearpath Robotics, Inc., Alex Bencz
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of the copyright holder nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef __MOCAP_OPTITRACK_RIGID_BODY_PUBLISHER_H__
#define __MOCAP_OPTITRACK_RIGID_BODY_PUBLISHER_H__

#include <map>
#include <memory>

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

#include <mocap_optitrack/version.h>
#include <mocap_optitrack/data_model.h>
#include <mocap_optitrack/mocap_config.h>

namespace mocap_optitrack
{

class RigidBodyPublisher
{
public:
  RigidBodyPublisher(ros::NodeHandle &nh,
                     Version const& natNetVersion,
                     PublisherConfiguration const& config);
  ~RigidBodyPublisher();
  void publish(ros::Time const& time, RigidBody const&);

private:
  PublisherConfiguration config;

  Version coordinatesVersion;

  tf::TransformBroadcaster tfPublisher;
  ros::Publisher posePublisher;
  ros::Publisher pose2dPublisher;
  ros::Publisher odomPublisher;
};

class RigidBodyPublishDispatcher
{
  typedef std::shared_ptr<RigidBodyPublisher> RigidBodyPublisherPtr;
  typedef std::map<int, RigidBodyPublisherPtr> RigidBodyPublisherMap;
  RigidBodyPublisherMap rigidBodyPublisherMap;

public:
  RigidBodyPublishDispatcher(ros::NodeHandle &nh,
                             Version const& natNetVersion,
                             PublisherConfigurations const& configs);
  void publish(ros::Time const& time, std::vector<RigidBody> const&);
};

} // namespace

#endif