rocon_tf_reconstructor.h

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#ifndef ROCON_TF_RECONSTRUCTOR_ROCON_TF_RECONSTRUCTOR_H_
#define ROCON_TF_RECONSTRUCTOR_ROCON_TF_RECONSTRUCTOR_H_

#include<ros/ros.h>
#include<tf/tf.h>
#include<tf/transform_broadcaster.h>
#include<tf/transform_datatypes.h>
#include<concert_msgs/ConcertClients.h>
#include<geometry_msgs/PoseStamped.h>
#include<geometry_msgs/TransformStamped.h>
#include "rocon_pose_client.h"

namespace rocon {

  class RoconTFReconstructor {
    public:
      RoconTFReconstructor();
      RoconTFReconstructor(ros::NodeHandle& n);
      ~RoconTFReconstructor();
      void spin();

    protected:
      void setSubscriber();
      void getParams();
      void init();

      void processClientLists(const concert_msgs::ConcertClients::ConstPtr msg);
      void publishClientTF(std::string client_name,geometry_msgs::PoseStamped pose_stamped);

    private:
      ros::NodeHandle nh;

      tf::TransformBroadcaster tf_broadcaster;
      ros::Subscriber sub_clientlist;

      std::vector<std::string> clients;
      std::map<std::string,RoconPoseClient*> sub_clients_pose;

      std::string sub_client_list_topic;
      std::string sub_robotpose_topic;

      int spin_rate_;
  };
}

#endif