30 #ifndef RVIZ_ROBOT_TF_LINK_UPDATER_H 31 #define RVIZ_ROBOT_TF_LINK_UPDATER_H 36 #include <boost/function.hpp> 51 typedef boost::function<void(StatusLevel, const std::string&, const std::string&)>
StatusCallback;
53 TFLinkUpdater(
FrameManager* frame_manager,
const StatusCallback& status_cb = StatusCallback(),
const std::string& tf_prefix = std::string());
54 virtual bool getLinkTransforms(
const std::string& link_name, Ogre::Vector3& visual_position, Ogre::Quaternion& visual_orientation,
55 Ogre::Vector3& collision_position, Ogre::Quaternion& collision_orientation)
const;
57 virtual void setLinkStatus(
StatusLevel level,
const std::string& link_name,
const std::string& text)
const;
67 #endif // RVIZ_ROBOT_TF_LINK_UPDATER_H
boost::function< void(StatusLevel, const std::string &, const std::string &)> StatusCallback
Helper class for transforming data into Ogre's world frame (the fixed frame).
StatusCallback status_callback_
FrameManager * frame_manager_