Fawkes API Fawkes Development Version
transform_publisher.h
1/***************************************************************************
2 * transform_publisher.h - Fawkes transform publisher (based on ROS tf)
3 *
4 * Created: Tue Oct 25 22:17:54 2011
5 * Copyright 2011 Tim Niemueller [www.niemueller.de]
6 ****************************************************************************/
7
8/* This program is free software; you can redistribute it and/or modify
9 * it under the terms of the GNU General Public License as published by
10 * the Free Software Foundation; either version 2 of the License, or
11 * (at your option) any later version. A runtime exception applies to
12 * this software (see LICENSE.GPL_WRE file mentioned below for details).
13 *
14 * This program is distributed in the hope that it will be useful,
15 * but WITHOUT ANY WARRANTY; without even the implied warranty of
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17 * GNU Library General Public License for more details.
18 *
19 * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
20 */
21
22/* This code is based on ROS tf with the following copyright and license:
23 *
24 * Copyright (c) 2008, Willow Garage, Inc.
25 * All rights reserved.
26 *
27 * Redistribution and use in source and binary forms, with or without
28 * modification, are permitted provided that the following conditions are met:
29 *
30 * * Redistributions of source code must retain the above copyright
31 * notice, this list of conditions and the following disclaimer.
32 * * Redistributions in binary form must reproduce the above copyright
33 * notice, this list of conditions and the following disclaimer in the
34 * documentation and/or other materials provided with the distribution.
35 * * Neither the name of the Willow Garage, Inc. nor the names of its
36 * contributors may be used to endorse or promote products derived from
37 * this software without specific prior written permission.
38 *
39 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
40 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
41 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
42 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
43 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
44 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
45 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
46 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
47 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
48 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
49 * POSSIBILITY OF SUCH DAMAGE.
50 */
51
52#ifndef _LIBS_TF_TRANSFORM_PUBLISHER_H_
53#define _LIBS_TF_TRANSFORM_PUBLISHER_H_
54
55#include <tf/types.h>
56#include <utils/time/time.h>
57
58namespace fawkes {
59
60class BlackBoard;
61class TransformInterface;
62class Mutex;
63
64namespace tf {
65
67{
68public:
69 TransformPublisher(BlackBoard *bb, const char *bb_iface_id);
70 virtual ~TransformPublisher();
71
72 virtual void send_transform(const StampedTransform &transform, const bool is_static = false);
73
74 virtual void
75 send_transform(const Transform & transform,
76 const fawkes::Time &time,
77 const std::string frame,
78 const std::string child_frame,
79 const bool is_static = false)
80 {
81 send_transform(StampedTransform(transform, time, frame, child_frame), is_static);
82 }
83
84private:
85 BlackBoard * bb_;
86 TransformInterface *tfif_;
87 Mutex * mutex_;
88};
89
90} // end namespace tf
91} // end namespace fawkes
92
93#endif
The BlackBoard abstract class.
Definition: blackboard.h:46
Mutex mutual exclusion lock.
Definition: mutex.h:33
A class for handling time.
Definition: time.h:93
TransformInterface Fawkes BlackBoard Interface.
Transform that contains a timestamp and frame IDs.
Definition: types.h:92
Utility class to send transforms.
TransformPublisher(BlackBoard *bb, const char *bb_iface_id)
Constructor.
virtual ~TransformPublisher()
Destructor.
virtual void send_transform(const StampedTransform &transform, const bool is_static=false)
Publish transform.
virtual void send_transform(const Transform &transform, const fawkes::Time &time, const std::string frame, const std::string child_frame, const bool is_static=false)
Convenience wrapper to send a transform.
Fawkes library namespace.