static_transform_broadcaster.cpp
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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
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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 "tf2_msgs/TFMessage.h"
00036 #include "tf2_ros/static_transform_broadcaster.h"
00037 
00038 namespace tf2 {
00039 
00040 StaticTransformBroadcaster::StaticTransformBroadcaster()
00041 {
00042   publisher_ = node_.advertise<tf2_msgs::TFMessage>("/tf_static", 100, true);
00043 };
00044 
00045 void StaticTransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped & msgtf)
00046 {
00047   std::vector<geometry_msgs::TransformStamped> v1;
00048   v1.push_back(msgtf);
00049   sendTransform(v1);
00050 }
00051 
00052 
00053 void StaticTransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped> & msgtf)
00054 {
00055   for (std::vector<geometry_msgs::TransformStamped>::const_iterator it_in = msgtf.begin(); it_in != msgtf.end(); ++it_in)
00056   {
00057     bool match_found = false;
00058     for (std::vector<geometry_msgs::TransformStamped>::iterator it_msg = net_message_.transforms.begin(); it_msg != net_message_.transforms.end(); ++it_msg)
00059     {
00060       if (it_in->header.frame_id == it_msg->header.frame_id)
00061       {
00062         *it_msg = *it_in;
00063         match_found = true;
00064         break;
00065       }
00066     }
00067     if (! match_found)
00068       net_message_.transforms.push_back(*it_in);
00069   }
00070 
00071   publisher_.publish(net_message_);
00072 }
00073 
00074 
00075 }
00076 
00077 
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tf2_ros
Author(s): Wim Meeussen, Eitan Marder-Eppstein
autogenerated on Mon Aug 19 2013 10:27:02