laser_joint_projector.h

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#ifndef LASER_JOINT_PROJECTOR_LASER_JOINT_PROJECTOR_H_
#define LASER_JOINT_PROJECTOR_LASER_JOINT_PROJECTOR_H_

#include <map>
#include <kdl/tree.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/JointState.h>
#include <geometry_msgs/Point32.h>

#include <boost/shared_ptr.hpp>

namespace laser_joint_projector
{

class LaserJointProjector
{
public:
  LaserJointProjector();
  void configure(const KDL::Tree& tree, const std::string& root, const std::string& tip);
  geometry_msgs::Point32 project(const std::map<std::string, double>& joint_map);
  sensor_msgs::PointCloud project(const std::vector<sensor_msgs::JointState>& joint_state_vec,
                                  const ros::Duration& time_shift);
private:
  KDL::Chain chain_;
  boost::shared_ptr<KDL::ChainFkSolverPos_recursive> solver_;
};

}

#endif