transform_broadcaster.cc

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * 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.
 *****************************************************************************/
 
#include "modules/transform/transform_broadcaster.h"
 
#include "modules/common/adapters/adapter_gflags.h"
 
namespace apollo {
namespace transform {
 
TransformBroadcaster::TransformBroadcaster(
    const std::shared_ptr<cyber::Node>& node)
    : node_(node) {
  cyber::proto::RoleAttributes attr;
  attr.set_channel_name(FLAGS_tf_topic);
  writer_ = node_->CreateWriter<TransformStampeds>(attr);
}
 
void TransformBroadcaster::SendTransform(const TransformStamped& transform) {
  std::vector<TransformStamped> transforms;
  transforms.emplace_back(transform);
  SendTransform(transforms);
}
 
void TransformBroadcaster::SendTransform(
    const std::vector<TransformStamped>& transforms) {
  auto message = std::make_shared<TransformStampeds>();
  *message->mutable_transforms() = {transforms.begin(), transforms.end()};
  writer_->Write(message);
}
 
}  // namespace transform
}  // namespace apollo