#include <robot_state_publisher.h>
Public Member Functions | |
void | publishFixedTransforms () |
void | publishTransforms (const std::map< std::string, double > &joint_positions, const ros::Time &time) |
RobotStatePublisher (const KDL::Tree &tree) | |
~RobotStatePublisher () | |
Destructor. | |
Private Member Functions | |
void | addChildren (const KDL::SegmentMap::const_iterator segment) |
Private Attributes | |
std::map< std::string, SegmentPair > | segments_ |
std::map< std::string, SegmentPair > | segments_fixed_ |
tf::TransformBroadcaster | tf_broadcaster_ |
Definition at line 61 of file robot_state_publisher.h.
Constructor
tree | The kinematic model of a robot, represented by a KDL Tree |
Definition at line 48 of file robot_state_publisher.cpp.
Destructor.
Definition at line 70 of file robot_state_publisher.h.
void robot_state_publisher::RobotStatePublisher::addChildren | ( | const KDL::SegmentMap::const_iterator | segment | ) | [private] |
Definition at line 56 of file robot_state_publisher.cpp.
Definition at line 100 of file robot_state_publisher.cpp.
void robot_state_publisher::RobotStatePublisher::publishTransforms | ( | const std::map< std::string, double > & | joint_positions, |
const ros::Time & | time | ||
) |
Publish transforms to tf
joint_positions | A map of joint names and joint positions. |
time | The time at which the joint positions were recorded |
Definition at line 78 of file robot_state_publisher.cpp.
std::map<std::string, SegmentPair> robot_state_publisher::RobotStatePublisher::segments_ [private] |
Definition at line 83 of file robot_state_publisher.h.
std::map<std::string, SegmentPair> robot_state_publisher::RobotStatePublisher::segments_fixed_ [private] |
Definition at line 83 of file robot_state_publisher.h.
Definition at line 84 of file robot_state_publisher.h.