35 #include <OgreVector3.h> 36 #include <OgreQuaternion.h> 42 : frame_manager_(frame_manager)
43 , status_callback_(status_cb)
44 , tf_prefix_(tf_prefix)
49 Ogre::Vector3& collision_position, Ogre::Quaternion& collision_orientation)
const 51 std::string link_name = _link_name;
57 Ogre::Vector3 position;
58 Ogre::Quaternion orientation;
70 visual_position = position;
71 visual_orientation = orientation;
72 collision_position = position;
73 collision_orientation = orientation;
boost::function< void(StatusLevel, const std::string &, const std::string &)> StatusCallback
std::string resolve(const std::string &prefix, const std::string &frame_name)
Helper class for transforming data into Ogre's world frame (the fixed frame).
virtual bool getLinkTransforms(const std::string &link_name, Ogre::Vector3 &visual_position, Ogre::Quaternion &visual_orientation, Ogre::Vector3 &collision_position, Ogre::Quaternion &collision_orientation) const
const std::string & getFixedFrame()
Return the current fixed frame name.
virtual void setLinkStatus(StatusLevel level, const std::string &link_name, const std::string &text) const
StatusCallback status_callback_
bool getTransform(const Header &header, Ogre::Vector3 &position, Ogre::Quaternion &orientation)
Return the pose for a header, relative to the fixed frame, in Ogre classes.
FrameManager * frame_manager_
TFLinkUpdater(FrameManager *frame_manager, const StatusCallback &status_cb=StatusCallback(), const std::string &tf_prefix=std::string())