robot_state_publisher::DynamicRobotStatePublisher Class Reference

An alternative RobotStatePublisher with update option. More...

#include <robot_state_publisher.h>

Public Member Functions
	DynamicRobotStatePublisher (RobotStatePublisher *publisher)
	Create the publisher. More...
virtual size_t	getNumFixedJoints () const
	Return the number of fixed joints in the currently represented model. More...
virtual size_t	getNumMovingJoints () const
	Return the number of moving joints in the currently represented model. More...
virtual void	updateTree (const KDL::Tree &tree)
	Sets the robot model. More...

Public Attributes
const std::string	DELETED_STATIC_TFS_FRAME = "__deleted_static_tfs__"
	The TF frame name of the virtual frame that's parent of all deleted static TF frames. More...

Protected Member Functions
virtual void	addChildren (const KDL::SegmentMap::const_iterator segment)
std::map< std::string, SegmentPair > &	getFixedSegments ()
const std::map< std::string, SegmentPair > &	getFixedSegments () const
std::map< std::string, SegmentPair > &	getSegments ()
const std::map< std::string, SegmentPair > &	getSegments () const
tf2_ros::StaticTransformBroadcaster &	getStaticTfBroadcaster ()

Protected Attributes
RobotStatePublisher *	publisher
	The underlying (hacked) publisher. More...

Detailed Description

An alternative RobotStatePublisher with update option.

Definition at line 11 of file robot_state_publisher.h.

Constructor & Destructor Documentation

DynamicRobotStatePublisher()

robot_state_publisher::DynamicRobotStatePublisher::DynamicRobotStatePublisher ( robot_state_publisher::RobotStatePublisher *  publisher )

explicit

Create the publisher.

Parameters

[in]

publisher

The underlying RobotStatePublisher that is hijacked.

Definition at line 65 of file robot_state_publisher.cpp.

Member Function Documentation

addChildren()

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

protectedvirtual

Definition at line 127 of file robot_state_publisher.cpp.

getFixedSegments() [1/2]

const std::map< std::string, SegmentPair > & robot_state_publisher::DynamicRobotStatePublisher::getFixedSegments ( )

protected

Definition at line 90 of file robot_state_publisher.cpp.

getFixedSegments() [2/2]

const std::map<std::string, SegmentPair>& robot_state_publisher::DynamicRobotStatePublisher::getFixedSegments ( ) const

protected

getNumFixedJoints()

size_t robot_state_publisher::DynamicRobotStatePublisher::getNumFixedJoints ( ) const

virtual

Return the number of fixed joints in the currently represented model.

Returns

The number of fixed joints in the currently represented model.

Definition at line 76 of file robot_state_publisher.cpp.

getNumMovingJoints()

size_t robot_state_publisher::DynamicRobotStatePublisher::getNumMovingJoints ( ) const

virtual

Return the number of moving joints in the currently represented model.

Returns

The number of moving joints in the currently represented model.

Definition at line 71 of file robot_state_publisher.cpp.

getSegments() [1/2]

const std::map< std::string, SegmentPair > & robot_state_publisher::DynamicRobotStatePublisher::getSegments ( )

protected

Definition at line 81 of file robot_state_publisher.cpp.

getSegments() [2/2]

const std::map<std::string, SegmentPair>& robot_state_publisher::DynamicRobotStatePublisher::getSegments ( ) const

protected

getStaticTfBroadcaster()

tf2_ros::StaticTransformBroadcaster & robot_state_publisher::DynamicRobotStatePublisher::getStaticTfBroadcaster ( )

protected

Definition at line 117 of file robot_state_publisher.cpp.

updateTree()

void robot_state_publisher::DynamicRobotStatePublisher::updateTree ( const KDL::Tree &  tree )

virtual

Sets the robot model.

Parameters

tree	The kinematic model of a robot, represented by a KDL Tree.

function is only called from JointStateListener::reload_robot_model where the update mutex is acquired

Definition at line 25 of file robot_state_publisher.cpp.

Member Data Documentation

DELETED_STATIC_TFS_FRAME

const std::string robot_state_publisher::DynamicRobotStatePublisher::DELETED_STATIC_TFS_FRAME = "__deleted_static_tfs__"

The TF frame name of the virtual frame that's parent of all deleted static TF frames.

Definition at line 21 of file robot_state_publisher.h.

publisher

RobotStatePublisher* robot_state_publisher::DynamicRobotStatePublisher::publisher

protected

The underlying (hacked) publisher.

Definition at line 68 of file robot_state_publisher.h.

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

• robot_state_publisher.h
• robot_state_publisher.cpp