tf_visual_tools.h
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00034 
00035 /* Author: Dave Coleman <dave@dav.ee>
00036    Desc:   Helps debug and visualize transforms via the TF infrastructure
00037    Note:   We shouldn't have to publish the transforms at interval since they are static, but we do
00038    because of https://github.com/ros/geometry_experimental/issues/108
00039 */
00040 
00041 #ifndef RVIZ_VISUAL_TOOLS_TF_VISUAL_TOOLS_H
00042 #define RVIZ_VISUAL_TOOLS_TF_VISUAL_TOOLS_H
00043 
00044 // C++
00045 #include <vector>
00046 #include <string>
00047 
00048 // ROS
00049 #include <ros/ros.h>
00050 #include <geometry_msgs/TransformStamped.h>
00051 
00052 // Eigen
00053 #include <Eigen/Geometry>
00054 
00055 #include <tf2_ros/transform_broadcaster.h>
00056 
00057 // namespace tf2_ros
00058 // {
00059 // class StaticTransformBroadcaster;
00060 // };
00061 
00062 namespace rviz_visual_tools
00063 {
00064 class TFVisualTools
00065 {
00066 public:
00070   TFVisualTools();
00071 
00076   bool publishTransform(const Eigen::Affine3d& transform, const std::string& from_frame, const std::string& to_frame);
00077 
00081   void publishAllTransforms(const ros::TimerEvent& e);
00082 
00083 private:
00084   // A shared node handle
00085   ros::NodeHandle nh_;
00086 
00087   // Send tf messages
00088   tf2_ros::TransformBroadcaster tf_pub_;
00089 
00090   // Separate thread to publish transforms
00091   ros::Timer non_realtime_loop_;
00092 
00093   // Collect the transfroms
00094   std::vector<geometry_msgs::TransformStamped> transforms_;
00095 };  // end class
00096 
00097 // Create boost pointers for this class
00098 typedef boost::shared_ptr<TFVisualTools> TFVisualToolsPtr;
00099 typedef boost::shared_ptr<const TFVisualTools> TFVisualToolsConstPtr;
00100 
00101 }  // namespace rviz_visual_tools
00102 
00103 #endif  // RVIZ_VISUAL_TOOLS_TF_VISUAL_TOOLS_H


rviz_visual_tools
Author(s): Dave Coleman
autogenerated on Sun Aug 7 2016 03:34:46