File content as of revision 4:bcdd99711326:

/* 
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions
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 *
 *  * Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
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 *    copyright notice, this list of conditions and the following
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 *    with the distribution.
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 *    contributors may be used to endorse or promote prducts derived
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef ROS_TRANSFORM_BROADCASTER_H_
#define ROS_TRANSFORM_BROADCASTER_H_

#include "ros.h"
#include "tfMessage.h"

namespace tf
{

  class TransformBroadcaster
  {
    public:
      TransformBroadcaster() : publisher_("/tf", &internal_msg) {}

      void init(ros::NodeHandle &nh)
      {
        nh.advertise(publisher_);
      }

      void sendTransform(geometry_msgs::TransformStamped &transform)
      {
        internal_msg.transforms_length = 1;
        internal_msg.transforms = &transform;
        publisher_.publish(&internal_msg);
      }

    private:
      tf::tfMessage internal_msg;
      ros::Publisher publisher_;
  };

}

#endif