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/* Author: Wim Meeussen */

#include "robot_state_publisher/robot_state_publisher.h"
#include <kdl/frames_io.hpp>
#include <tf_conversions/tf_kdl.h>

using namespace std;
using namespace ros;
using namespace KDL;



namespace robot_state_publisher{

RobotStatePublisher::RobotStatePublisher(const Tree& tree)
   :tree_(tree)
{
  // build tree solver
  solver_.reset(new TreeFkSolverPosFull_recursive(tree_));

  // get parameter to flatter tree or not
  ros::NodeHandle n_private("~");
  n_private.param("flatten_tree", flatten_tree_, false);

  // advertise tf message
  NodeHandle n;
  tf_publisher_ = n.advertise<tf::tfMessage>("/tf", 5);

  // get the root segment of the tree
  SegmentMap::const_iterator root = tree.getRootSegment();
  root_ = root->first;
}



bool RobotStatePublisher::publishTransforms(const map<string, double>& joint_positions, const Time& time)
{
  // calculate transforms 
  map<string, tf::Stamped<Frame> > link_poses;
  solver_->JntToCart(joint_positions, link_poses, flatten_tree_);

  if (link_poses.empty()){
    ROS_ERROR("Could not compute link poses. The tree or the state is invalid.");
    return false;
  }
  transforms_.resize(link_poses.size());

  unsigned int i = 0;
  tf::Transform tf_frame;
  for (map<string, tf::Stamped<Frame> >::const_iterator f=link_poses.begin(); f!=link_poses.end(); f++){
    tf::TransformKDLToTF(f->second, transforms_[i]);
    transforms_[i].stamp_ = time;
    transforms_[i].frame_id_ = f->second.frame_id_;
    transforms_[i].child_frame_id_ = f->first;
    i++;
  }

  tf_broadcaster_.sendTransform(transforms_);

  return true;
}
}