robot_state_publisher: robot_state_publisher.h Source File

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00034 
00035 /* Author: Wim Meeussen */
00036 
00037 #ifndef ROBOT_STATE_PUBLISHER_H
00038 #define ROBOT_STATE_PUBLISHER_H
00039 
00040 #include <ros/ros.h>
00041 #include <boost/scoped_ptr.hpp>
00042 #include <tf/tf.h>
00043 #include <tf/transform_broadcaster.h>
00044 #include "robot_state_publisher/treefksolverposfull_recursive.hpp"
00045 
00046 namespace robot_state_publisher{
00047 
00048 class RobotStatePublisher
00049 {
00050 public:
00054   RobotStatePublisher(const KDL::Tree& tree);
00055 
00057   ~RobotStatePublisher(){};
00058 
00064   bool publishTransforms(const std::map<std::string, double>& joint_positions, const ros::Time& time);
00065 
00066 private:
00067   ros::Publisher tf_publisher_;
00068   bool flatten_tree_;
00069   KDL::Tree tree_;
00070   boost::scoped_ptr<KDL::TreeFkSolverPosFull_recursive> solver_;
00071   std::string root_;
00072   std::vector<tf::StampedTransform> transforms_;
00073   tf::TransformBroadcaster tf_broadcaster_;
00074 
00075   class empty_tree_exception: public std::exception{
00076     virtual const char* what() const throw(){
00077       return "Tree is empty";}
00078   } empty_tree_ex;
00079 
00080 };
00081 
00082 
00083 
00084 }
00085 
00086 #endif