transform_broadcaster.h
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00001 /* 
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00034 
00035 #ifndef ROS_TF_H_
00036 #define ROS_TF_H_
00037 
00038 #include "tfMessage.h"
00039 
00040 namespace tf
00041 {
00042 
00043   class TransformBroadcaster
00044   {
00045     public:
00046       TransformBroadcaster() : publisher_("tf", &internal_msg)
00047       {
00048         nh.advertise(publisher_);
00049       }
00050 
00051       void sendTransform(geometry_msgs::TransformStamped &transform)
00052       {
00053         internal_msg.transforms_length = 1;
00054         internal_msg.transforms = &transform;
00055         publisher_.publish(&internal_msg);
00056       }
00057 
00058     private:
00059       tf::tfMessage internal_msg;
00060       ros::Publisher publisher_;
00061   };
00062 
00063 }
00064 
00065 #endif
00066 
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Author(s): André Gonçalves Araújo
autogenerated on Fri Feb 1 2013 13:21:12