18 #ifndef JOINT_STATES_CONVERTER_HPP
19 #define JOINT_STATES_CONVERTER_HPP
25 #include "../tools/robot_description.hpp"
32 #include <sensor_msgs/JointState.h>
44 typedef boost::function<void(sensor_msgs::JointState&, std::vector<geometry_msgs::TransformStamped>&) >
Callback_t;
48 typedef std::map<std::string, urdf::JointMimicSharedPtr>
MimicMap;
55 virtual void reset( );
59 void callAll(
const std::vector<message_actions::MessageAction>& actions );
64 void addChildren(
const KDL::SegmentMap::const_iterator segment);
66 void setTransforms(
const std::map<std::string, double>& joint_positions,
const ros::Time& time,
const std::string& tf_prefix);
77 std::map<message_actions::MessageAction, Callback_t>
callbacks_;