transform_broadcaster.h
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00001 /* 
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00034 
00035 #ifndef ROS_TRANSFORM_BROADCASTER_H_
00036 #define ROS_TRANSFORM_BROADCASTER_H_
00037 
00038 #include "tfMessage.h"
00039 
00040 namespace tf
00041 {
00042 
00043   class TransformBroadcaster
00044   {
00045     public:
00046       TransformBroadcaster() : publisher_("tf", &internal_msg) {}
00047 
00048       void init(ros::NodeHandle &nh)
00049       {
00050         nh.advertise(publisher_);
00051       }
00052 
00053       void sendTransform(geometry_msgs::TransformStamped &transform)
00054       {
00055         internal_msg.transforms_length = 1;
00056         internal_msg.transforms = &transform;
00057         publisher_.publish(&internal_msg);
00058       }
00059 
00060     private:
00061       tf::tfMessage internal_msg;
00062       ros::Publisher publisher_;
00063   };
00064 
00065 }
00066 
00067 #endif
00068 


lizi_arduino
Author(s): RoboTiCan
autogenerated on Wed Aug 26 2015 12:24:23