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transform_broadcaster.h
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/*
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* Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef ROS_TRANSFORM_BROADCASTER_H_
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#define ROS_TRANSFORM_BROADCASTER_H_
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#include "tfMessage.h"
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namespace
tf
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{
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class
TransformBroadcaster
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{
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public
:
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TransformBroadcaster
() :
publisher_
(
"/tf"
, &
internal_msg
) {}
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void
init
(
ros::NodeHandle
&nh)
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{
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nh.
advertise
(
publisher_
);
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}
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void
sendTransform
(geometry_msgs::TransformStamped &transform)
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{
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internal_msg
.transforms_length = 1;
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internal_msg
.transforms = &transform;
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publisher_
.
publish
(&
internal_msg
);
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}
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private
:
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tf::tfMessage
internal_msg
;
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ros::Publisher
publisher_
;
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};
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}
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#endif
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ros::NodeHandle
ros::Publisher::publish
void publish(const boost::shared_ptr< M > &message) const
tf::TransformBroadcaster::internal_msg
tf::tfMessage internal_msg
Definition:
transform_broadcaster.h:44
tf::TransformBroadcaster::TransformBroadcaster
TransformBroadcaster()
Definition:
transform_broadcaster.h:29
tf::TransformBroadcaster::sendTransform
void sendTransform(geometry_msgs::TransformStamped &transform)
Definition:
transform_broadcaster.h:36
tf
Definition:
tf.h:24
tf::TransformBroadcaster::publisher_
ros::Publisher publisher_
Definition:
transform_broadcaster.h:45
ros::NodeHandle::advertise
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
tf::TransformBroadcaster::init
void init(ros::NodeHandle &nh)
Definition:
transform_broadcaster.h:31
ros::Publisher
tf::TransformBroadcaster
Definition:
transform_broadcaster.h:26
cob_hand_bridge
Author(s): Mathias Lüdtke
autogenerated on Tue Oct 20 2020 03:35:57