The RobotsTfPublisher class publishes tf for robots in the scene uppon request. More...

Public Member Functions
	RobotsTfPublisher (SceneManager scMgr, ros::NodeHandle nh)
	RobotsTfPublisher constructor. More...

bool	publishTf (const std::vector< std::string > &names, const ros::Time &date)
	publish tf for given robots More...

bool	publishTf (Robot *r, const ros::Time &date)
	publish tf for a single move3d robot object More...

Detailed Description

The RobotsTfPublisher class publishes tf for robots in the scene uppon request.

The tf published are named <move3d_robot_name>/<move3d_link_name>

Constructor & Destructor Documentation

move3d::RobotsTfPublisher::RobotsTfPublisher	(	SceneManager *	scMgr,
		ros::NodeHandle *	nh
	)

Parameters

scMgr	the scene manager from which to get robot positions
nh	the node handle used to publish tf

bool move3d::RobotsTfPublisher::publishTf	(	const std::vector< std::string > &	names,
		const ros::Time &	date
	)

publish tf for given robots

Parameters

names	list of robots names
date	date used in the tf header stamp

Uses the current world state inside move3d scene. date parameter is used only for stamping the transforms sent to the broadcaster

bool move3d::RobotsTfPublisher::publishTf	(	Robot *	r,
		const ros::Time &	date
	)

publish tf for a single move3d robot object

Parameters

r	pointer to the move3d robot
date	date used in the tf header stamp

Uses the current world state inside move3d scene. date parameter is used only for stamping the transforms sent to the broadcaster

The documentation for this class was generated from the following files: