tf_link_updater.h
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29 
30 #ifndef RVIZ_ROBOT_TF_LINK_UPDATER_H
31 #define RVIZ_ROBOT_TF_LINK_UPDATER_H
32 
33 #include "link_updater.h"
34 
35 #include <string>
36 #include <boost/function.hpp>
37 
38 namespace tf
39 {
40 class Transformer;
41 }
42 
43 namespace rviz
44 {
45 
46 class FrameManager;
47 
48 class TFLinkUpdater : public LinkUpdater
49 {
50 public:
51  typedef boost::function<void(StatusLevel, const std::string&, const std::string&)> StatusCallback;
52 
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;
56 
57  virtual void setLinkStatus(StatusLevel level, const std::string& link_name, const std::string& text) const;
58 
59 private:
61  StatusCallback status_callback_;
62  std::string tf_prefix_;
63 };
64 
65 } // namespace rviz
66 
67 #endif // RVIZ_ROBOT_TF_LINK_UPDATER_H
68 
boost::function< void(StatusLevel, const std::string &, const std::string &)> StatusCallback
std::string tf_prefix_
Helper class for transforming data into Ogre&#39;s world frame (the fixed frame).
Definition: frame_manager.h:63
StatusCallback status_callback_
FrameManager * frame_manager_


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Wed Aug 28 2019 04:01:51