laser_joint_projector.h
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00034 
00036 
00037 #ifndef LASER_JOINT_PROJECTOR_LASER_JOINT_PROJECTOR_H_
00038 #define LASER_JOINT_PROJECTOR_LASER_JOINT_PROJECTOR_H_
00039 
00040 #include <map>
00041 #include <kdl/tree.hpp>
00042 #include <kdl/chainfksolverpos_recursive.hpp>
00043 #include <sensor_msgs/PointCloud.h>
00044 #include <sensor_msgs/JointState.h>
00045 #include <geometry_msgs/Point32.h>
00046 
00047 #include <boost/shared_ptr.hpp>
00048 
00049 namespace laser_joint_projector
00050 {
00051 
00052 class LaserJointProjector
00053 {
00054 public:
00055   LaserJointProjector();
00056   void configure(const KDL::Tree& tree, const std::string& root, const std::string& tip);
00057   geometry_msgs::Point32 project(const std::map<std::string, double>& joint_map);
00058   sensor_msgs::PointCloud project(const std::vector<sensor_msgs::JointState>& joint_state_vec,
00059                                   const ros::Duration& time_shift);
00060 private:
00061   KDL::Chain chain_;
00062   boost::shared_ptr<KDL::ChainFkSolverPos_recursive> solver_;
00063 };
00064 
00065 }
00066 
00067 #endif
00068 
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laser_joint_projector
Author(s): Vijay Pradeep
autogenerated on Thu Aug 15 2013 13:00:41