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>
94 const char *bb_iface_id)
95 : __bb(bb), __mutex(new
Mutex())
98 std::string bbid = std::string(
"TF ") + bb_iface_id;
111 if (__bb) __bb->
close(__tfif);
131 double translation[3], rotation[4];
132 const Vector3 &t = transform.getOrigin();
133 translation[0] = t.x(); translation[1] = t.y(); translation[2] = t.z();
134 Quaternion r = transform.getRotation();
135 assert_quaternion_valid(r);
136 rotation[0] = r.x(); rotation[1] = r.y();
137 rotation[2] = r.z(); rotation[3] = r.w();