planning_link_updater.h

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/*
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/* Author: Ioan Sucan */

#ifndef MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_PLANNING_LINK_UPDATER_
#define MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_PLANNING_LINK_UPDATER_

#include <rviz/robot/link_updater.h>
#include <moveit/robot_state/robot_state.h>

namespace moveit_rviz_plugin
{

class PlanningLinkUpdater : public rviz::LinkUpdater
{
public:

  PlanningLinkUpdater(const robot_state::RobotStateConstPtr &state)
    : kinematic_state_(state)
  {
  }

  virtual bool getLinkTransforms(const std::string& link_name, Ogre::Vector3& visual_position, Ogre::Quaternion& visual_orientation,
                                 Ogre::Vector3& collision_position, Ogre::Quaternion& collision_orientation) const;

private:
  robot_state::RobotStateConstPtr kinematic_state_;
};

}

#endif