Quadrotor

/* 

 * Software License Agreement (BSD License)

 *

 * Copyright (c) 2011, Willow Garage, Inc.

 * All rights reserved.

 *

 * Redistribution and use in source and binary forms, with or without

 * 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

 *    disclaimer in the documentation and/or other materials provided

 *    with the distribution.

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 *    contributors may be used to endorse or promote prducts derived

 *    from this software without specific prior written permission.

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#ifndef ROS_TRANSFORM_BROADCASTER_H_

#define ROS_TRANSFORM_BROADCASTER_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