tf_link_updater.h
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2009, Willow Garage, Inc.
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of the Willow Garage, Inc. nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27  * POSSIBILITY OF SUCH DAMAGE.
28  */
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 class FrameManager;
46 
47 class TFLinkUpdater : public LinkUpdater
48 {
49 public:
50  typedef boost::function<void(StatusLevel, const std::string&, const std::string&)> StatusCallback;
51 
52  TFLinkUpdater(FrameManager* frame_manager,
53  const StatusCallback& status_cb = StatusCallback(),
54  const std::string& tf_prefix = std::string());
55  bool getLinkTransforms(const std::string& link_name,
56  Ogre::Vector3& visual_position,
57  Ogre::Quaternion& visual_orientation,
58  Ogre::Vector3& collision_position,
59  Ogre::Quaternion& collision_orientation) const override;
60 
61  void
62  setLinkStatus(StatusLevel level, const std::string& link_name, const std::string& text) const override;
63 
64 private:
66  StatusCallback status_callback_;
67  std::string tf_prefix_;
68 };
69 
70 } // namespace rviz
71 
72 #endif // RVIZ_ROBOT_TF_LINK_UPDATER_H
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:70
StatusCallback status_callback_
FrameManager * frame_manager_


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Sat May 27 2023 02:06:25