52 #include <tf/transform_publisher.h> 54 #include <blackboard/blackboard.h> 55 #include <interfaces/TransformInterface.h> 57 #include <core/threading/mutex.h> 58 #include <core/threading/mutex_locker.h> 96 const char *bb_iface_id)
97 : bb_(bb), mutex_(new
Mutex())
100 std::string bbid = (bb_iface_id[0] ==
'/') ? bb_iface_id : std::string(
"/tf/") + bb_iface_id;
113 if (bb_) bb_->
close(tfif_);
135 double translation[3], rotation[4];
136 const Vector3 &t = transform.getOrigin();
137 translation[0] = t.x(); translation[1] = t.y(); translation[2] = t.z();
138 Quaternion r = transform.getRotation();
139 assert_quaternion_valid(r);
140 rotation[0] = r.x(); rotation[1] = r.y();
141 rotation[2] = r.z(); rotation[3] = r.w();
void set_auto_timestamping(bool enabled)
Enable or disable automated timestamping.
Fawkes library namespace.
void write()
Write from local copy into BlackBoard memory.
The requested feature is disabled.
The BlackBoard abstract class.
Mutex mutual exclusion lock.
virtual Interface * open_for_writing(const char *interface_type, const char *identifier, const char *owner=NULL)=0
Open interface for writing.
void set_timestamp(const Time *t=NULL)
Set timestamp.
virtual void close(Interface *interface)=0
Close interface.