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00001 #include <rtt/types/TypekitPlugin.hpp> 00002 #include <rtt/internal/GlobalService.hpp> 00003 #include <tf_conversions/tf_kdl.h> 00004 00005 namespace KDL 00006 { 00010 class KDLConversionTypekitPlugin 00011 : public RTT::types::TypekitPlugin 00012 { 00013 public: 00014 std::string getName(){return "KDLConversions";}; 00015 bool loadTypes(){return true;}; 00016 bool loadConstructors(){return true;}; 00017 bool loadOperators() 00018 { 00019 RTT::Service::shared_ptr gs = RTT::internal::GlobalService::Instance(); 00020 gs->provides("KDL")->addOperation("TwistToMsg",&tf::TwistKDLToMsg); 00021 gs->provides("KDL")->addOperation("MsgToTwist",&tf::TwistMsgToKDL); 00022 gs->provides("KDL")->addOperation("FrameToMsg",&tf::PoseKDLToMsg); 00023 gs->provides("KDL")->addOperation("MsgToFrame",&tf::PoseKDLToMsg); 00024 return true; 00025 } 00026 }; 00030 extern KDLConversionTypekitPlugin KDLTypekit; 00031 } 00032 00033 ORO_TYPEKIT_PLUGIN(KDL::KDLConversionTypekitPlugin)