transform_broadcaster.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 
00034 #include "ros/ros.h"
00035 #include "tf/transform_broadcaster.h"
00036 #include "tf/transform_listener.h"
00037 
00038 #include <tf2_ros/transform_broadcaster.h>
00039 
00040 
00041 
00042 namespace tf {
00043 
00044 TransformBroadcaster::TransformBroadcaster():
00045   tf2_broadcaster_()
00046 {
00047 };
00048 
00049 void TransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped & msgtf)
00050 {
00051   tf2_broadcaster_.sendTransform(msgtf);
00052 }
00053 
00054 void TransformBroadcaster::sendTransform(const StampedTransform & transform)
00055 {
00056   geometry_msgs::TransformStamped msgtf;
00057   transformStampedTFToMsg(transform, msgtf);
00058   tf2_broadcaster_.sendTransform(msgtf);
00059 } 
00060 
00061 void TransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped> & msgtf)
00062 {
00063   tf2_broadcaster_.sendTransform(msgtf);
00064 }
00065 
00066 void TransformBroadcaster::sendTransform(const std::vector<StampedTransform> & transforms)
00067 {
00068   std::vector<geometry_msgs::TransformStamped> msgtfs;
00069   for (std::vector<StampedTransform>::const_iterator it = transforms.begin(); it != transforms.end(); ++it)
00070   {
00071     geometry_msgs::TransformStamped msgtf;
00072     transformStampedTFToMsg(*it, msgtf);
00073     msgtfs.push_back(msgtf);
00074 
00075   }
00076   tf2_broadcaster_.sendTransform(msgtfs);
00077 } 
00078   
00079 
00080 
00081 
00082 }
00083 
00084 


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Mon Jul 9 2018 02:37:28