transform_broadcaster.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *     * Redistributions in binary form must reproduce the above copyright
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 *       this software without specific prior written permission.
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#ifndef TF2_ROS_TRANSFORMBROADCASTER_H
#define TF2_ROS_TRANSFORMBROADCASTER_H
 
 
 
#include "ros/ros.h"
#include "geometry_msgs/TransformStamped.h"
namespace tf2_ros
{
 
 
class TransformBroadcaster{
public:
  TransformBroadcaster();
 
  //  void sendTransform(const StampedTransform & transform);
 
  //void sendTransform(const std::vector<StampedTransform> & transforms);
 
  void sendTransform(const geometry_msgs::TransformStamped & transform);
 
  void sendTransform(const std::vector<geometry_msgs::TransformStamped> & transforms);
 
private:
  ros::NodeHandle node_;
  ros::Publisher publisher_;
 
};
 
}
 
#endif //TF_TRANSFORMBROADCASTER_H