tf: transform_broadcaster.cpp Source File

00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 
00034 #include "ros/ros.h"
00035 #include "tf/transform_broadcaster.h"
00036 #include "tf/transform_listener.h"
00037 
00038 namespace tf {
00039 
00040 TransformBroadcaster::TransformBroadcaster()
00041 {
00042   publisher_ = node_.advertise<tfMessage>("/tf", 100);
00043   ros::NodeHandle l_nh("~");
00044   tf_prefix_ = getPrefixParam(l_nh);
00045 };
00046 
00047 void TransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped & msgtf)
00048 {
00049   std::vector<geometry_msgs::TransformStamped> v1;
00050   v1.push_back(msgtf);
00051   sendTransform(v1);
00052 }
00053 
00054 void TransformBroadcaster::sendTransform(const StampedTransform & transform)
00055 {
00056   std::vector<StampedTransform> v1;
00057   v1.push_back(transform);
00058   sendTransform(v1);
00059 } 
00060 
00061 void TransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped> & msgtf)
00062 {
00063   tfMessage message;
00064   for (std::vector<geometry_msgs::TransformStamped>::const_iterator it = msgtf.begin(); it != msgtf.end(); ++it)
00065   {
00066     message.transforms.push_back(*it);
00067     //Make sure to resolve anything published
00068     message.transforms.back().header.frame_id = tf::resolve(tf_prefix_, message.transforms.back().header.frame_id);
00069     message.transforms.back().child_frame_id = tf::resolve(tf_prefix_, message.transforms.back().child_frame_id);
00070   }
00071   publisher_.publish(message);
00072 }
00073 
00074 void TransformBroadcaster::sendTransform(const std::vector<StampedTransform> & transforms)
00075 {
00076   std::vector<geometry_msgs::TransformStamped> msgtfs;
00077   for (std::vector<StampedTransform>::const_iterator it = transforms.begin(); it != transforms.end(); ++it)
00078   {
00079     geometry_msgs::TransformStamped msgtf;
00080     transformStampedTFToMsg(*it, msgtf);
00081     msgtfs.push_back(msgtf);
00082 
00083   }
00084   sendTransform(msgtfs);
00085 } 
00086   
00087 
00088 
00089 
00090 }
00091 
00092