laser_joint_projector.h
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2008, Willow Garage, Inc.
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00036 
00037 #ifndef LASER_JOINT_PROJECTOR_LASER_JOINT_PROJECTOR_H_
00038 #define LASER_JOINT_PROJECTOR_LASER_JOINT_PROJECTOR_H_
00039 
00040 #include <map>
00041 #include <kdl/tree.hpp>
00042 #include <kdl/chainfksolverpos_recursive.hpp>
00043 #include <sensor_msgs/PointCloud.h>
00044 #include <sensor_msgs/JointState.h>
00045 #include <geometry_msgs/Point32.h>
00046 
00047 #include <boost/shared_ptr.hpp>
00048 
00049 namespace laser_joint_projector
00050 {
00051 
00052 class LaserJointProjector
00053 {
00054 public:
00055   LaserJointProjector();
00056   void configure(const KDL::Tree& tree, const std::string& root, const std::string& tip);
00057   geometry_msgs::Point32 project(const std::map<std::string, double>& joint_map);
00058   sensor_msgs::PointCloud project(const std::vector<sensor_msgs::JointState>& joint_state_vec,
00059                                   const ros::Duration& time_shift);
00060 private:
00061   KDL::Chain chain_;
00062   boost::shared_ptr<KDL::ChainFkSolverPos_recursive> solver_;
00063 };
00064 
00065 }
00066 
00067 #endif
00068 


laser_joint_projector
Author(s): Vijay Pradeep
autogenerated on Fri Aug 28 2015 12:06:30