tf_interface.h
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00001 #ifndef __RTT_TF_TF_INTERFACE_H
00002 #define __RTT_TF_TF_INTERFACE_H
00003 
00004 #include <ros/ros.h>
00005 #include <string>
00006 #include <vector>
00007 #include <rtt/RTT.hpp>
00008 #include <geometry_msgs/TransformStamped.h>
00009 
00010 namespace rtt_tf {
00011 
00013   class TFInterface {
00014   public:
00016     TFInterface(RTT::TaskContext *owner) :
00017       lookupTransform("lookupTransform"),
00018       lookupTransformAtTime("lookupTransformAtTime"),
00019       broadcastTransform("broadcastTransform"),
00020       broadcastTransforms("broadcastTransforms"),
00021       canTransform("canTransform")
00022     {
00023       owner->requires("tf")->addOperationCaller(lookupTransform);
00024       owner->requires("tf")->addOperationCaller(lookupTransformAtTime);
00025       owner->requires("tf")->addOperationCaller(broadcastTransform);
00026       owner->requires("tf")->addOperationCaller(broadcastTransforms);
00027       owner->requires("tf")->addOperationCaller(canTransform);
00028     }
00029 
00031     bool ready() {
00032       return 
00033         lookupTransform.ready() &&
00034         lookupTransformAtTime.ready() &&
00035         broadcastTransform.ready() &&
00036         broadcastTransforms.ready() &&
00037         canTransform.ready();
00038     }
00039 
00040     RTT::OperationCaller<geometry_msgs::TransformStamped(const std::string&, const std::string&)> lookupTransform;
00041     RTT::OperationCaller<geometry_msgs::TransformStamped(const std::string&, const std::string&, const ros::Time&)> lookupTransformAtTime;
00042     RTT::OperationCaller<void(const geometry_msgs::TransformStamped&)> broadcastTransform;
00043     RTT::OperationCaller<void(const std::vector<geometry_msgs::TransformStamped>&)> broadcastTransforms;
00044     RTT::OperationCaller<bool(const std::string&, const std::string&)> canTransform;
00045   };
00046 }
00047 
00048 #endif // ifndef __RTT_TF_TF_INTERFACE_H


rtt_tf
Author(s): Ruben Smits
autogenerated on Wed Sep 16 2015 06:58:36