Go to the documentation of this file.00001
00002
00003 import rospy
00004
00005 from frame_editor.constructors_geometry import ToTransformStamped
00006 from frame_editor.interface import Interface
00007 from frame_editor.objects import Frame
00008
00009
00010 class FrameEditor_TF(Interface):
00011
00012 def __init__(self, frame_editor):
00013 self.editor = frame_editor
00014 self.editor.observers.append(self)
00015
00016 def broadcast(self, editor):
00017
00018
00019 for frame in editor.frames.values():
00020 Frame.tf_broadcaster.sendTransform(ToTransformStamped(
00021 frame.position,
00022 frame.orientation,
00023 rospy.Time.now(),
00024 frame.name,
00025 frame.parent
00026 ))
00027
00028