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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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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#ifndef __MOCAP_NOKOV_RIGID_BODY_PUBLISHER_H__
#define __MOCAP_NOKOV_RIGID_BODY_PUBLISHER_H__
 
#include <map>
#include <memory>
 
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
 
#include <mocap_nokov/version.h>
#include <mocap_nokov/data_model.h>
#include <mocap_nokov/mocap_config.h>
 
namespace mocap_nokov
{
 
class RigidBodyPublisher
{
public:
  RigidBodyPublisher(ros::NodeHandle &node, 
    Version const& sdkVersion, 
    PublisherConfiguration const& config);
  ~RigidBodyPublisher();
  void publish(ros::Time const& time, RigidBody const&);
 
private:
  PublisherConfiguration config;
  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 &node, 
        Version const& sdkVersion, 
        PublisherConfigurations const& configs);
    void publish(ros::Time const& time, std::vector<RigidBody> const& rigidBodies);
};
 
} // namespace
 
#endif