tf_link_updater.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 * 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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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef RVIZ_ROBOT_TF_LINK_UPDATER_H
#define RVIZ_ROBOT_TF_LINK_UPDATER_H

#include "link_updater.h"

#include <string>
#include <boost/function.hpp>

namespace tf
{
class Transformer;
}

namespace rviz
{

class FrameManager;

class TFLinkUpdater : public LinkUpdater
{
public:
  typedef boost::function<void(StatusLevel, const std::string&, const std::string&)> StatusCallback;

  TFLinkUpdater(FrameManager* frame_manager, const StatusCallback& status_cb = StatusCallback(), const std::string& tf_prefix = std::string());
  virtual bool getLinkTransforms(const std::string& link_name, Ogre::Vector3& visual_position, Ogre::Quaternion& visual_orientation,
                                 Ogre::Vector3& collision_position, Ogre::Quaternion& collision_orientation, bool& apply_offset_transforms) const;

  virtual void setLinkStatus(StatusLevel level, const std::string& link_name, const std::string& text) const;

private:
  FrameManager* frame_manager_;
  StatusCallback status_callback_;
  std::string tf_prefix_;
};

} // namespace rviz

#endif // RVIZ_ROBOT_TF_LINK_UPDATER_H