robot_state_publisher::RobotStatePublisher Class Reference

#include <robot_state_publisher.h>

List of all members.

Classes
class	empty_tree_exception
Public Member Functions
bool	publishTransforms (const std::map< std::string, double > &joint_positions, const ros::Time &time)
	RobotStatePublisher (const KDL::Tree &tree)
	~RobotStatePublisher ()
	Destructor.
Private Attributes
robot_state_publisher::RobotStatePublisher::empty_tree_exception	empty_tree_ex
bool	flatten_tree_
std::string	root_
boost::scoped_ptr < KDL::TreeFkSolverPosFull_recursive >	solver_
tf::TransformBroadcaster	tf_broadcaster_
ros::Publisher	tf_publisher_
std::vector< tf::StampedTransform >	transforms_
KDL::Tree	tree_

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Detailed Description

Definition at line 48 of file robot_state_publisher.h.

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Constructor & Destructor Documentation

robot_state_publisher::RobotStatePublisher::RobotStatePublisher

(

const KDL::Tree &

tree

)

Constructor

Parameters:

tree

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

robot_state_publisher::RobotStatePublisher::~RobotStatePublisher

(

)

[inline]

Destructor.

Definition at line 57 of file robot_state_publisher.h.

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Member Function Documentation

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

Publish transforms to tf

Parameters:

	joint_positions	A map of joint names and joint positions.
	time	The time at which the joint positions were recorded returns true on success; return false when the robot model is empty or not all the joints in the robot model are specified in the joint map.

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Member Data Documentation

robot_state_publisher::RobotStatePublisher::empty_tree_exception robot_state_publisher::RobotStatePublisher::empty_tree_ex [private]

bool robot_state_publisher::RobotStatePublisher::flatten_tree_ [private]

Definition at line 68 of file robot_state_publisher.h.

std::string robot_state_publisher::RobotStatePublisher::root_ [private]

Definition at line 71 of file robot_state_publisher.h.

boost::scoped_ptr<KDL::TreeFkSolverPosFull_recursive> robot_state_publisher::RobotStatePublisher::solver_ [private]

Definition at line 70 of file robot_state_publisher.h.

tf::TransformBroadcaster robot_state_publisher::RobotStatePublisher::tf_broadcaster_ [private]

Definition at line 73 of file robot_state_publisher.h.

ros::Publisher robot_state_publisher::RobotStatePublisher::tf_publisher_ [private]

Definition at line 67 of file robot_state_publisher.h.

std::vector<tf::StampedTransform> robot_state_publisher::RobotStatePublisher::transforms_ [private]

Definition at line 72 of file robot_state_publisher.h.

KDL::Tree robot_state_publisher::RobotStatePublisher::tree_ [private]

Definition at line 69 of file robot_state_publisher.h.

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

• robot_state_publisher.h