robot_information.h
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1 /*
2  * Copyright 2018, Sebastian Pütz
3  *
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32  *
33  * robot_information.h
34  *
35  * author: Sebastian Pütz <spuetz@uni-osnabrueck.de>
36  *
37  */
38 
39 #ifndef MBF_ABSTRACT_NAV__ROBOT_INFORMATION_H_
40 #define MBF_ABSTRACT_NAV__ROBOT_INFORMATION_H_
41 
42 #include <boost/shared_ptr.hpp>
43 #include <geometry_msgs/PoseStamped.h>
44 #include <geometry_msgs/TwistStamped.h>
45 #include <ros/duration.h>
46 #include <string>
47 #include <tf/transform_listener.h>
48 
49 #include <mbf_utility/types.h>
50 
51 namespace mbf_abstract_nav{
52 
54 
55  public:
56 
58 
60  TF &tf_listener,
61  const std::string &global_frame,
62  const std::string &robot_frame,
63  const ros::Duration &tf_timeout);
64 
70  bool getRobotPose(geometry_msgs::PoseStamped &robot_pose) const;
71 
72  bool getRobotVelocity(geometry_msgs::TwistStamped &robot_velocity, ros::Duration look_back_duration) const;
73 
74  const std::string& getGlobalFrame() const;
75 
76  const std::string& getRobotFrame() const;
77 
78  const TF& getTransformListener() const;
79 
80  const ros::Duration& getTfTimeout() const;
81 
82  private:
83  const TF& tf_listener_;
84 
85  const std::string &global_frame_;
86 
87  const std::string &robot_frame_;
88 
90 
91 };
92 
93 } /* mbf_abstract_nav */
94 
95 #endif /* MBF_ABSTRACT_NAV__ROBOT_INFORMATION_H_ */
const ros::Duration & getTfTimeout() const
const std::string & getRobotFrame() const
bool getRobotPose(geometry_msgs::PoseStamped &robot_pose) const
Computes the current robot pose (robot_frame_) in the global frame (global_frame_).
boost::shared_ptr< RobotInformation > Ptr
RobotInformation(TF &tf_listener, const std::string &global_frame, const std::string &robot_frame, const ros::Duration &tf_timeout)
const std::string & getGlobalFrame() const
bool getRobotVelocity(geometry_msgs::TwistStamped &robot_velocity, ros::Duration look_back_duration) const


mbf_abstract_nav
Author(s): Sebastian Pütz
autogenerated on Wed May 27 2020 04:03:14