transform_broadcaster.h
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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00029 
00030 
00033 #ifndef TF2_ROS_TRANSFORMBROADCASTER_H
00034 #define TF2_ROS_TRANSFORMBROADCASTER_H
00035 
00036 
00037 
00038 #include "ros/ros.h"
00039 #include "geometry_msgs/TransformStamped.h"
00040 namespace tf2
00041 {
00042 
00043 
00048 class TransformBroadcaster{
00049 public:
00051   TransformBroadcaster();
00052 
00055   //  void sendTransform(const StampedTransform & transform);
00056 
00059   //void sendTransform(const std::vector<StampedTransform> & transforms);
00060 
00063   void sendTransform(const geometry_msgs::TransformStamped & transform);
00064 
00067   void sendTransform(const std::vector<geometry_msgs::TransformStamped> & transforms);
00068 
00069 private:
00071   ros::NodeHandle node_;
00072   ros::Publisher publisher_;
00073 
00074 };
00075 
00076 }
00077 
00078 #endif //TF_TRANSFORMBROADCASTER_H


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Mon Oct 6 2014 00:12:49