transform_nodelet.cc

Go to the documentation of this file.

/*
 *  Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
 *  License: Modified BSD Software License Agreement
 *
 *  $Id$
 */
 
#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
 
#include "velodyne_pointcloud/transform.h"
 
namespace velodyne_pointcloud
{
  class TransformNodelet: public nodelet::Nodelet
  {
  public:
 
    TransformNodelet() {}
    ~TransformNodelet() {}
 
  private:
 
    virtual void onInit();
    boost::shared_ptr<Transform> tf_;
  };
 
  void TransformNodelet::onInit()
  {
    tf_.reset(new Transform(getNodeHandle(), getPrivateNodeHandle(), getName()));
  }
 
} // namespace velodyne_pointcloud
 
 
// Register this plugin with pluginlib.  Names must match nodelets.xml.
//
// parameters: class type, base class type
PLUGINLIB_EXPORT_CLASS(velodyne_pointcloud::TransformNodelet, nodelet::Nodelet)