47 class TransformListener;
90 void setFrame(
const std::string& frame);
118 void updateTransforms();
120 MOVEIT_CLASS_FORWARD(TransformContext);
126 class TransformContext
129 TransformContext(
const std::string&
name) : frame_id_(
name)
131 transformation_.matrix().setZero();
134 std::string frame_id_;
135 Eigen::Isometry3d transformation_;
146 std::map<mesh_filter::MeshHandle, TransformContextPtr> handle2context_;
149 std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
150 std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
153 planning_scene_monitor::PlanningSceneMonitorPtr psm_;
156 std::string frame_id_;
165 ros::Rate update_rate_;
ROS/KDL based interface for the inverse kinematics of the PR2 arm.