transform_broadcaster.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef TF_TRANSFORMBROADCASTER_H
#define TF_TRANSFORMBROADCASTER_H

#include "tf/tf.h"
#include "tf/tfMessage.h"

#include <tf2_ros/transform_broadcaster.h>


namespace tf
{


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:

  tf2_ros::TransformBroadcaster tf2_broadcaster_;

};

}

#endif //TF_TRANSFORMBROADCASTER_H