transform_broadcaster.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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#ifndef TF2_ROS_TRANSFORMBROADCASTER_H
#define TF2_ROS_TRANSFORMBROADCASTER_H



#include "ros/ros.h"
#include "geometry_msgs/TransformStamped.h"
namespace tf2_ros
{


class TransformBroadcaster{
public:
  TransformBroadcaster();

  //  void sendTransform(const StampedTransform & transform);

  //void sendTransform(const std::vector<StampedTransform> & transforms);

  void sendTransform(const geometry_msgs::TransformStamped & transform);

  void sendTransform(const std::vector<geometry_msgs::TransformStamped> & transforms);

private:
  ros::NodeHandle node_;
  ros::Publisher publisher_;

};

}

#endif //TF_TRANSFORMBROADCASTER_H