An alternative RobotStatePublisher with update option. More...

Public Member Functions
	DynamicRobotStatePublisher (RobotStatePublisher *publisher)
	Create the publisher. More...

virtual size_t	getNumFixedJoints () const
	Return the number of fixed joints in the currently represented model. More...

virtual size_t	getNumMovingJoints () const
	Return the number of moving joints in the currently represented model. More...

virtual void	updateTree (const KDL::Tree &tree)
	Sets the robot model. More...

Public Attributes
const std::string	DELETED_STATIC_TFS_FRAME = "__deleted_static_tfs__"
	The TF frame name of the virtual frame that's parent of all deleted static TF frames. More...

Protected Attributes
RobotStatePublisher *	publisher
	The underlying (hacked) publisher. More...

Detailed Description

An alternative RobotStatePublisher with update option.

Definition at line 11 of file robot_state_publisher.h.

Constructor & Destructor Documentation

robot_state_publisher::DynamicRobotStatePublisher::DynamicRobotStatePublisher ( robot_state_publisher::RobotStatePublisher * publisher )

explicit

Create the publisher.

Parameters

[in] publisher The underlying RobotStatePublisher that is hijacked.

Definition at line 54 of file robot_state_publisher.cpp.

size_t robot_state_publisher::DynamicRobotStatePublisher::getNumFixedJoints ( ) const

virtual

Return the number of fixed joints in the currently represented model.

Definition at line 63 of file robot_state_publisher.cpp.

size_t robot_state_publisher::DynamicRobotStatePublisher::getNumMovingJoints ( ) const

virtual

Return the number of moving joints in the currently represented model.

Definition at line 58 of file robot_state_publisher.cpp.

void robot_state_publisher::DynamicRobotStatePublisher::updateTree ( const KDL::Tree & tree )

virtual

Sets the robot model.

Parameters

tree	The kinematic model of a robot, represented by a KDL Tree.

function is only called from JointStateListener::reload_robot_model where the update mutex is acquired

Definition at line 18 of file robot_state_publisher.cpp.

const std::string robot_state_publisher::DynamicRobotStatePublisher::DELETED_STATIC_TFS_FRAME = "__deleted_static_tfs__"

The TF frame name of the virtual frame that's parent of all deleted static TF frames.

Definition at line 16 of file robot_state_publisher.h.

RobotStatePublisher* robot_state_publisher::DynamicRobotStatePublisher::publisher

protected

The underlying (hacked) publisher.

Definition at line 44 of file robot_state_publisher.h.

The documentation for this class was generated from the following files: