rapid_position_provider_ros_pose_helper.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * 
 * All rights reserved.
 * 
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef DDS_ROS_BRIDGE_RAPID_POSITION_PROVIDER_ROS_POSE_HELPER_H_
#define DDS_ROS_BRIDGE_RAPID_POSITION_PROVIDER_ROS_POSE_HELPER_H_
 
#include <ndds/ndds_cpp.h>
 
#include <string>
 
#include "dds_ros_bridge/util.h"
 
#include "geometry_msgs/PoseStamped.h"
 
#include "rapidIo/PositionProvider.h"
 
namespace rapid {
 
class PositionProviderRosPoseHelper : public PositionProvider {
 public:
  PositionProviderRosPoseHelper(PositionTopicPairParameters const& params,
                                const std::string& entity_name);
  void Publish(const geometry_msgs::PoseStamped::ConstPtr& pose);
};
 
}  // end namespace rapid
 
#endif  // DDS_ROS_BRIDGE_RAPID_POSITION_PROVIDER_ROS_POSE_HELPER_H_