Public Member Functions | Private Member Functions | Private Attributes
robot_state_publisher::RobotStatePublisher Class Reference

#include <robot_state_publisher.h>

List of all members.

Public Member Functions

void publishFixedTransforms (const std::string &tf_prefix, bool use_tf_static=false)
void publishTransforms (const std::map< std::string, double > &joint_positions, const ros::Time &time, const std::string &tf_prefix)
 RobotStatePublisher (const KDL::Tree &tree, const urdf::Model &model=urdf::Model())
 ~RobotStatePublisher ()
 Destructor.

Private Member Functions

void addChildren (const KDL::SegmentMap::const_iterator segment)

Private Attributes

const urdf::Modelmodel_
std::map< std::string,
SegmentPair
segments_
std::map< std::string,
SegmentPair
segments_fixed_
tf2_ros::StaticTransformBroadcaster static_tf_broadcaster_
tf2_ros::TransformBroadcaster tf_broadcaster_

Detailed Description

Definition at line 63 of file robot_state_publisher.h.


Constructor & Destructor Documentation

Constructor

Parameters:
treeThe kinematic model of a robot, represented by a KDL Tree

Definition at line 48 of file robot_state_publisher.cpp.

Destructor.

Definition at line 72 of file robot_state_publisher.h.


Member Function Documentation

void robot_state_publisher::RobotStatePublisher::addChildren ( const KDL::SegmentMap::const_iterator  segment) [private]

Definition at line 56 of file robot_state_publisher.cpp.

void robot_state_publisher::RobotStatePublisher::publishFixedTransforms ( const std::string &  tf_prefix,
bool  use_tf_static = false 
)

Definition at line 103 of file robot_state_publisher.cpp.

void robot_state_publisher::RobotStatePublisher::publishTransforms ( const std::map< std::string, double > &  joint_positions,
const ros::Time time,
const std::string &  tf_prefix 
)

Publish transforms to tf

Parameters:
joint_positionsA map of joint names and joint positions.
timeThe time at which the joint positions were recorded

Definition at line 83 of file robot_state_publisher.cpp.


Member Data Documentation

Definition at line 85 of file robot_state_publisher.h.

Definition at line 84 of file robot_state_publisher.h.

Definition at line 84 of file robot_state_publisher.h.

Definition at line 87 of file robot_state_publisher.h.

Definition at line 86 of file robot_state_publisher.h.


The documentation for this class was generated from the following files:


robot_state_publisher
Author(s): Ioan Sucan , Jackie Kay , Wim Meeussen
autogenerated on Sat Feb 25 2017 03:35:14