transform_broadcaster.h

Go to the documentation of this file.

/* 
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * 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 Willow Garage, Inc. nor the names of its
 *    contributors may be used to endorse or promote prducts 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 OWNER 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.
 */

#ifndef ROS_TRANSFORM_BROADCASTER_H_
#define ROS_TRANSFORM_BROADCASTER_H_

#include "tfMessage.h"

namespace tf
{

  class TransformBroadcaster
  {
    public:
      TransformBroadcaster() : publisher_("tf", &internal_msg) {}

      void init(ros::NodeHandle &nh)
      {
        nh.advertise(publisher_);
      }

      void sendTransform(geometry_msgs::TransformStamped &transform)
      {
        internal_msg.transforms_length = 1;
        internal_msg.transforms = &transform;
        publisher_.publish(&internal_msg);
      }

    private:
      tf::tfMessage internal_msg;
      ros::Publisher publisher_;
  };

}

#endif