rocon_tf_reconstructor.h
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00001 /*
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2012 Yujin Robot, Jihoon Lee
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
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00010 #
00011 #    * Redistributions of source code must retain the above copyright
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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 Yujin Robot nor the names of its
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00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 
00035 #ifndef ROCON_TF_RECONSTRUCTOR_ROCON_TF_RECONSTRUCTOR_H_
00036 #define ROCON_TF_RECONSTRUCTOR_ROCON_TF_RECONSTRUCTOR_H_
00037 
00038 #include<ros/ros.h>
00039 #include<tf/tf.h>
00040 #include<tf/transform_broadcaster.h>
00041 #include<tf/transform_datatypes.h>
00042 #include<concert_msgs/ConcertClients.h>
00043 #include<geometry_msgs/PoseStamped.h>
00044 #include<geometry_msgs/TransformStamped.h>
00045 #include "rocon_pose_client.h"
00046 
00047 namespace rocon {
00048 
00049   class RoconTFReconstructor {
00050     public:
00051       RoconTFReconstructor();
00052       RoconTFReconstructor(ros::NodeHandle& n);
00053       ~RoconTFReconstructor();
00054       void spin();
00055 
00056     protected:
00057       void setSubscriber();
00058       void getParams();
00059       void init();
00060 
00061       void processClientLists(const concert_msgs::ConcertClients::ConstPtr msg);
00062       void publishClientTF(std::string client_name,geometry_msgs::PoseStamped pose_stamped);
00063 
00064     private:
00065       ros::NodeHandle nh;
00066 
00067       tf::TransformBroadcaster tf_broadcaster;
00068       ros::Subscriber sub_clientlist;
00069 
00070       std::vector<std::string> clients;
00071       std::map<std::string,RoconPoseClient*> sub_clients_pose;
00072 
00073       std::string sub_client_list_topic;
00074       std::string sub_robotpose_topic;
00075 
00076   };
00077 }
00078 
00079 #endif


rocon_tf_reconstructor
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autogenerated on Wed Aug 26 2015 15:53:51