Fawkes API
Fawkes Development Version
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52 #include <blackboard/blackboard.h>
53 #include <core/threading/mutex.h>
54 #include <core/threading/mutex_locker.h>
55 #include <interfaces/TransformInterface.h>
56 #include <tf/transform_publisher.h>
90 : bb_(bb), mutex_(new Mutex())
93 std::string bbid = (bb_iface_id[0] ==
'/') ? bb_iface_id : std::string(
"/tf/") + bb_iface_id;
127 double translation[3], rotation[4];
128 const Vector3 &t = transform.getOrigin();
129 translation[0] = t.x();
130 translation[1] = t.y();
131 translation[2] = t.z();
132 Quaternion r = transform.getRotation();
133 assert_quaternion_valid(r);
void set_timestamp(const Time *t=NULL)
Set timestamp.
virtual void close(Interface *interface)=0
void set_auto_timestamping(bool enabled)
Enable or disable automated timestamping.
void write()
Write from local copy into BlackBoard memory.
virtual Interface * open_for_writing(const char *interface_type, const char *identifier, const char *owner=NULL)=0