Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
robot_state_publisher::RobotStatePublisher Class Reference

#include <robot_state_publisher.h>

Inheritance diagram for robot_state_publisher::RobotStatePublisher:
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Public Member Functions

virtual void publishFixedTransforms (const std::string &tf_prefix, bool use_tf_static=false)
 
virtual void publishTransforms (const std::map< std::string, double > &joint_positions, const ros::Time &time, const std::string &tf_prefix)
 
 RobotStatePublisher (const KDL::Tree &tree, const urdf::Model &model=urdf::Model())
 
 ~RobotStatePublisher ()
 Destructor. More...
 

Protected Member Functions

virtual void addChildren (const KDL::SegmentMap::const_iterator segment)
 

Protected Attributes

const urdf::Modelmodel_
 
std::map< std::string, SegmentPairsegments_
 
std::map< std::string, SegmentPairsegments_fixed_
 
tf2_ros::StaticTransformBroadcaster static_tf_broadcaster_
 
tf2_ros::TransformBroadcaster tf_broadcaster_
 

Detailed Description

Definition at line 63 of file robot_state_publisher.h.

Constructor & Destructor Documentation

◆ RobotStatePublisher()

robot_state_publisher::RobotStatePublisher::RobotStatePublisher ( const KDL::Tree tree,
const urdf::Model model = urdf::Model() 
)

Constructor

Parameters
treeThe kinematic model of a robot, represented by a KDL Tree

Definition at line 48 of file robot_state_publisher.cpp.

◆ ~RobotStatePublisher()

robot_state_publisher::RobotStatePublisher::~RobotStatePublisher ( )
inline

Destructor.

Definition at line 72 of file robot_state_publisher.h.

Member Function Documentation

◆ addChildren()

void robot_state_publisher::RobotStatePublisher::addChildren ( const KDL::SegmentMap::const_iterator  segment)
protectedvirtual

Definition at line 56 of file robot_state_publisher.cpp.

◆ publishFixedTransforms()

void robot_state_publisher::RobotStatePublisher::publishFixedTransforms ( const std::string &  tf_prefix,
bool  use_tf_static = false 
)
virtual

Definition at line 106 of file robot_state_publisher.cpp.

◆ publishTransforms()

void robot_state_publisher::RobotStatePublisher::publishTransforms ( const std::map< std::string, double > &  joint_positions,
const ros::Time time,
const std::string &  tf_prefix 
)
virtual

Publish transforms to tf

Parameters
joint_positionsA map of joint names and joint positions.
timeThe time at which the joint positions were recorded

Definition at line 83 of file robot_state_publisher.cpp.

Member Data Documentation

◆ model_

const urdf::Model& robot_state_publisher::RobotStatePublisher::model_
protected

Definition at line 85 of file robot_state_publisher.h.

◆ segments_

std::map<std::string, SegmentPair> robot_state_publisher::RobotStatePublisher::segments_
protected

Definition at line 84 of file robot_state_publisher.h.

◆ segments_fixed_

std::map<std::string, SegmentPair> robot_state_publisher::RobotStatePublisher::segments_fixed_
protected

Definition at line 84 of file robot_state_publisher.h.

◆ static_tf_broadcaster_

tf2_ros::StaticTransformBroadcaster robot_state_publisher::RobotStatePublisher::static_tf_broadcaster_
protected

Definition at line 87 of file robot_state_publisher.h.

◆ tf_broadcaster_

tf2_ros::TransformBroadcaster robot_state_publisher::RobotStatePublisher::tf_broadcaster_
protected

Definition at line 86 of file robot_state_publisher.h.


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


robot_state_publisher
Author(s): Ioan Sucan , Jackie Kay , Wim Meeussen
autogenerated on Mon Sep 2 2019 03:37:18