.. _program_listing_file__tmp_ws_src_rviz_visual_tools_include_rviz_visual_tools_tf_visual_tools.hpp:

Program Listing for File tf_visual_tools.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rviz_visual_tools_include_rviz_visual_tools_tf_visual_tools.hpp>` (``/tmp/ws/src/rviz_visual_tools/include/rviz_visual_tools/tf_visual_tools.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 PickNik Inc.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * 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.
   //
   //    * Neither the name of the PickNik Inc. 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
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   /* Author: Dave Coleman <dave@picknik.ai>
      Desc:   Helps debug and visualize transforms via the TF infrastructure
      Note:   We shouldn't have to publish the transforms at interval since they are static, but we do
      because of https://github.com/ros/geometry_experimental/issues/108
   */
   
   #pragma once
   
   // C++
   #include <vector>
   #include <string>
   
   // ROS
   #include <rclcpp/rclcpp.hpp>
   #include <geometry_msgs/msg/transform_stamped.hpp>
   
   // Eigen
   #include <Eigen/Geometry>
   
   #include <tf2_ros/transform_broadcaster.h>
   
   // namespace tf2_ros
   // {
   // class StaticTransformBroadcaster;
   // };
   
   namespace rviz_visual_tools
   {
   class TFVisualTools
   {
   public:
     TFVisualTools(const rclcpp::Node::SharedPtr& node, double loop_hz = 2);
     bool publishTransform(const Eigen::Isometry3d& transform, const std::string& from_frame,
                           const std::string& to_frame);
   
     void clearAllTransforms();
   
   private:
     void publishAllTransforms();
   
     // Node Interfaces
     // rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface_;
     // rclcpp::node_interfaces::NodeGraphInterface::SharedPtr graph_interface_;
     // rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging_interface_;
   
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
     rclcpp::node_interfaces::NodeTimersInterface::SharedPtr timers_interface_;
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface_;
     rclcpp::Logger logger_;
   
     // Send tf messages
     std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
   
     // Separate thread to publish transforms
     rclcpp::TimerBase::SharedPtr non_realtime_loop_;
   
     // Collect the transfroms
     std::vector<geometry_msgs::msg::TransformStamped> transforms_;
   };  // end class
   
   // Create boost pointers for this class
   typedef std::shared_ptr<TFVisualTools> TFVisualToolsPtr;
   typedef std::shared_ptr<const TFVisualTools> TFVisualToolsConstPtr;
   
   }  // namespace rviz_visual_tools