nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
tf/transform_broadcaster.h@4:684f39d0c346, 2012-02-29 (annotated)
- Committer:
- nucho
- Date:
- Wed Feb 29 23:00:21 2012 +0000
- Revision:
- 4:684f39d0c346
- Parent:
- 3:1cf99502f396
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 3:1cf99502f396 | 1 | /* |
| nucho | 3:1cf99502f396 | 2 | * Software License Agreement (BSD License) |
| nucho | 3:1cf99502f396 | 3 | * |
| nucho | 3:1cf99502f396 | 4 | * Copyright (c) 2011, Willow Garage, Inc. |
| nucho | 3:1cf99502f396 | 5 | * All rights reserved. |
| nucho | 3:1cf99502f396 | 6 | * |
| nucho | 3:1cf99502f396 | 7 | * Redistribution and use in source and binary forms, with or without |
| nucho | 3:1cf99502f396 | 8 | * modification, are permitted provided that the following conditions |
| nucho | 3:1cf99502f396 | 9 | * are met: |
| nucho | 3:1cf99502f396 | 10 | * |
| nucho | 3:1cf99502f396 | 11 | * * Redistributions of source code must retain the above copyright |
| nucho | 3:1cf99502f396 | 12 | * notice, this list of conditions and the following disclaimer. |
| nucho | 3:1cf99502f396 | 13 | * * Redistributions in binary form must reproduce the above |
| nucho | 3:1cf99502f396 | 14 | * copyright notice, this list of conditions and the following |
| nucho | 3:1cf99502f396 | 15 | * disclaimer in the documentation and/or other materials provided |
| nucho | 3:1cf99502f396 | 16 | * with the distribution. |
| nucho | 3:1cf99502f396 | 17 | * * Neither the name of Willow Garage, Inc. nor the names of its |
| nucho | 3:1cf99502f396 | 18 | * contributors may be used to endorse or promote prducts derived |
| nucho | 3:1cf99502f396 | 19 | * from this software without specific prior written permission. |
| nucho | 3:1cf99502f396 | 20 | * |
| nucho | 3:1cf99502f396 | 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| nucho | 3:1cf99502f396 | 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| nucho | 3:1cf99502f396 | 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| nucho | 3:1cf99502f396 | 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| nucho | 3:1cf99502f396 | 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| nucho | 3:1cf99502f396 | 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| nucho | 3:1cf99502f396 | 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
| nucho | 3:1cf99502f396 | 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| nucho | 3:1cf99502f396 | 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| nucho | 3:1cf99502f396 | 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| nucho | 3:1cf99502f396 | 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| nucho | 3:1cf99502f396 | 32 | * POSSIBILITY OF SUCH DAMAGE. |
| nucho | 3:1cf99502f396 | 33 | */ |
| nucho | 3:1cf99502f396 | 34 | |
| nucho | 3:1cf99502f396 | 35 | #ifndef ROS_TRANSFORM_BROADCASTER_H_ |
| nucho | 3:1cf99502f396 | 36 | #define ROS_TRANSFORM_BROADCASTER_H_ |
| nucho | 3:1cf99502f396 | 37 | |
| nucho | 3:1cf99502f396 | 38 | #include "tfMessage.h" |
| nucho | 3:1cf99502f396 | 39 | |
| nucho | 3:1cf99502f396 | 40 | namespace tf |
| nucho | 3:1cf99502f396 | 41 | { |
| nucho | 3:1cf99502f396 | 42 | |
| nucho | 3:1cf99502f396 | 43 | class TransformBroadcaster |
| nucho | 3:1cf99502f396 | 44 | { |
| nucho | 3:1cf99502f396 | 45 | public: |
| nucho | 3:1cf99502f396 | 46 | TransformBroadcaster() : publisher_("tf", &internal_msg) {} |
| nucho | 3:1cf99502f396 | 47 | |
| nucho | 3:1cf99502f396 | 48 | void init(ros::NodeHandle &nh) |
| nucho | 3:1cf99502f396 | 49 | { |
| nucho | 3:1cf99502f396 | 50 | nh.advertise(publisher_); |
| nucho | 3:1cf99502f396 | 51 | } |
| nucho | 3:1cf99502f396 | 52 | |
| nucho | 3:1cf99502f396 | 53 | void sendTransform(geometry_msgs::TransformStamped &transform) |
| nucho | 3:1cf99502f396 | 54 | { |
| nucho | 3:1cf99502f396 | 55 | internal_msg.transforms_length = 1; |
| nucho | 3:1cf99502f396 | 56 | internal_msg.transforms = &transform; |
| nucho | 3:1cf99502f396 | 57 | publisher_.publish(&internal_msg); |
| nucho | 3:1cf99502f396 | 58 | } |
| nucho | 3:1cf99502f396 | 59 | |
| nucho | 3:1cf99502f396 | 60 | private: |
| nucho | 3:1cf99502f396 | 61 | tf::tfMessage internal_msg; |
| nucho | 3:1cf99502f396 | 62 | ros::Publisher publisher_; |
| nucho | 3:1cf99502f396 | 63 | }; |
| nucho | 3:1cf99502f396 | 64 | |
| nucho | 3:1cf99502f396 | 65 | } |
| nucho | 3:1cf99502f396 | 66 | |
| nucho | 3:1cf99502f396 | 67 | #endif |