rosserial for Hydro
Fork of rosserial_mbed_lib by
tf/transform_broadcaster.h@0:77afd7560544, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:30 2011 +0000
- Revision:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucho | 0:77afd7560544 | 1 | /* |
nucho | 0:77afd7560544 | 2 | * Software License Agreement (BSD License) |
nucho | 0:77afd7560544 | 3 | * |
nucho | 0:77afd7560544 | 4 | * Copyright (c) 2011, Willow Garage, Inc. |
nucho | 0:77afd7560544 | 5 | * All rights reserved. |
nucho | 0:77afd7560544 | 6 | * |
nucho | 0:77afd7560544 | 7 | * Redistribution and use in source and binary forms, with or without |
nucho | 0:77afd7560544 | 8 | * modification, are permitted provided that the following conditions |
nucho | 0:77afd7560544 | 9 | * are met: |
nucho | 0:77afd7560544 | 10 | * |
nucho | 0:77afd7560544 | 11 | * * Redistributions of source code must retain the above copyright |
nucho | 0:77afd7560544 | 12 | * notice, this list of conditions and the following disclaimer. |
nucho | 0:77afd7560544 | 13 | * * Redistributions in binary form must reproduce the above |
nucho | 0:77afd7560544 | 14 | * copyright notice, this list of conditions and the following |
nucho | 0:77afd7560544 | 15 | * disclaimer in the documentation and/or other materials provided |
nucho | 0:77afd7560544 | 16 | * with the distribution. |
nucho | 0:77afd7560544 | 17 | * * Neither the name of Willow Garage, Inc. nor the names of its |
nucho | 0:77afd7560544 | 18 | * contributors may be used to endorse or promote prducts derived |
nucho | 0:77afd7560544 | 19 | * from this software without specific prior written permission. |
nucho | 0:77afd7560544 | 20 | * |
nucho | 0:77afd7560544 | 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
nucho | 0:77afd7560544 | 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
nucho | 0:77afd7560544 | 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
nucho | 0:77afd7560544 | 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
nucho | 0:77afd7560544 | 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
nucho | 0:77afd7560544 | 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
nucho | 0:77afd7560544 | 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
nucho | 0:77afd7560544 | 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
nucho | 0:77afd7560544 | 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
nucho | 0:77afd7560544 | 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
nucho | 0:77afd7560544 | 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
nucho | 0:77afd7560544 | 32 | * POSSIBILITY OF SUCH DAMAGE. |
nucho | 0:77afd7560544 | 33 | */ |
nucho | 0:77afd7560544 | 34 | |
nucho | 0:77afd7560544 | 35 | /* |
nucho | 0:77afd7560544 | 36 | * Author: Michael Ferguson |
nucho | 0:77afd7560544 | 37 | */ |
nucho | 0:77afd7560544 | 38 | |
nucho | 0:77afd7560544 | 39 | #ifndef ros_tf_h |
nucho | 0:77afd7560544 | 40 | #define ros_tf_h |
nucho | 0:77afd7560544 | 41 | |
nucho | 0:77afd7560544 | 42 | #include "tfMessage.h" |
nucho | 0:77afd7560544 | 43 | |
nucho | 0:77afd7560544 | 44 | namespace tf |
nucho | 0:77afd7560544 | 45 | { |
nucho | 0:77afd7560544 | 46 | |
nucho | 0:77afd7560544 | 47 | class TransformBroadcaster |
nucho | 0:77afd7560544 | 48 | { |
nucho | 0:77afd7560544 | 49 | public: |
nucho | 0:77afd7560544 | 50 | TransformBroadcaster() : publisher_("tf", &internal_msg) |
nucho | 0:77afd7560544 | 51 | { |
nucho | 0:77afd7560544 | 52 | nh.advertise(publisher_); |
nucho | 0:77afd7560544 | 53 | } |
nucho | 0:77afd7560544 | 54 | |
nucho | 0:77afd7560544 | 55 | void sendTransform(geometry_msgs::TransformStamped &transform) |
nucho | 0:77afd7560544 | 56 | { |
nucho | 0:77afd7560544 | 57 | internal_msg.transforms_length = 1; |
nucho | 0:77afd7560544 | 58 | internal_msg.transforms = &transform; |
nucho | 0:77afd7560544 | 59 | publisher_.publish(&internal_msg); |
nucho | 0:77afd7560544 | 60 | } |
nucho | 0:77afd7560544 | 61 | |
nucho | 0:77afd7560544 | 62 | private: |
nucho | 0:77afd7560544 | 63 | tf::tfMessage internal_msg; |
nucho | 0:77afd7560544 | 64 | ros::Publisher publisher_; |
nucho | 0:77afd7560544 | 65 | }; |
nucho | 0:77afd7560544 | 66 | |
nucho | 0:77afd7560544 | 67 | } |
nucho | 0:77afd7560544 | 68 | |
nucho | 0:77afd7560544 | 69 | #endif |
nucho | 0:77afd7560544 | 70 |