static_transform_broadcaster.h
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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
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00029 
00030 
00033 #ifndef TF2_ROS_STATICTRANSFORMBROADCASTER_H
00034 #define TF2_ROS_STATICTRANSFORMBROADCASTER_H
00035 
00036 
00037 
00038 #include "ros/ros.h"
00039 #include "geometry_msgs/TransformStamped.h"
00040 #include "tf2_msgs/TFMessage.h"
00041 
00042 namespace tf2
00043 {
00044 
00045 
00050 class StaticTransformBroadcaster{
00051 public:
00053   StaticTransformBroadcaster();
00054 
00057   void sendTransform(const geometry_msgs::TransformStamped & transform);
00058 
00061   void sendTransform(const std::vector<geometry_msgs::TransformStamped> & transforms);
00062 
00063 private:
00065   ros::NodeHandle node_;
00066   ros::Publisher publisher_;
00067   tf2_msgs::TFMessage net_message_;
00068 
00069 };
00070 
00071 }
00072 
00073 #endif //TF_STATICTRANSFORMBROADCASTER_H
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tf2_ros
Author(s): Wim Meeussen, Eitan Marder-Eppstein
autogenerated on Mon Aug 19 2013 10:27:02