robot_state_publisher::RobotStatePublisher Class Reference

#include <robot_state_publisher.h>

List of all members.

Public Member Functions
void	publishFixedTransforms (const std::string &tf_prefix)
void	publishTransforms (const std::map< std::string, double > &joint_positions, const ros::Time &time, const std::string &tf_prefix)
	RobotStatePublisher (const KDL::Tree &tree)
	~RobotStatePublisher ()
	Destructor.
Private Member Functions
void	addChildren (const KDL::SegmentMap::const_iterator segment)
Private Attributes
std::map< std::string, SegmentPair >	segments_
std::map< std::string, SegmentPair >	segments_fixed_
tf::TransformBroadcaster	tf_broadcaster_

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Detailed Description

Definition at line 61 of file robot_state_publisher.h.

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Constructor & Destructor Documentation

robot_state_publisher::RobotStatePublisher::RobotStatePublisher

(

const KDL::Tree &

tree

)

Constructor

Parameters:

tree	The kinematic model of a robot, represented by a KDL Tree

Definition at line 48 of file robot_state_publisher.cpp.

robot_state_publisher::RobotStatePublisher::~RobotStatePublisher

(

)

[inline]

Destructor.

Definition at line 70 of file robot_state_publisher.h.

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Member Function Documentation

void robot_state_publisher::RobotStatePublisher::addChildren

(

const KDL::SegmentMap::const_iterator

segment

)

[private]

Definition at line 56 of file robot_state_publisher.cpp.

void robot_state_publisher::RobotStatePublisher::publishFixedTransforms

(

const std::string &

tf_prefix

)

Definition at line 100 of file robot_state_publisher.cpp.

void robot_state_publisher::RobotStatePublisher::publishTransforms	(	const std::map< std::string, double > &	joint_positions,
		const ros::Time &	time,
		const std::string &	tf_prefix
	)

Publish transforms to tf

Parameters:

joint_positions	A map of joint names and joint positions.
time	The time at which the joint positions were recorded

Definition at line 78 of file robot_state_publisher.cpp.

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Member Data Documentation

std::map<std::string, SegmentPair> robot_state_publisher::RobotStatePublisher::segments_ [private]

Definition at line 83 of file robot_state_publisher.h.

std::map<std::string, SegmentPair> robot_state_publisher::RobotStatePublisher::segments_fixed_ [private]

Definition at line 83 of file robot_state_publisher.h.

tf::TransformBroadcaster robot_state_publisher::RobotStatePublisher::tf_broadcaster_ [private]

Definition at line 84 of file robot_state_publisher.h.

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The documentation for this class was generated from the following files:

• robot_state_publisher.h
• robot_state_publisher.cpp