ros_tf_broadcaster.h

#pragma once

#include "rapidjson/document.h"
#include <bson.h>

#include "ros_bridge.h"
#include "ros_topic.h"
#include "helper.h"

using json = rapidjson::Document;

namespace rosbridge2cpp {
	class ROSTFBroadcaster {
	public:
		ROSTFBroadcaster(ROSBridge &ros) : ros_(ros) {};

		// Send a single transform to /tf in JSON mode
		void SendTransform(json &geometry_msgs_transformstamped_msg);
		// Send Transform in BSON mode
		void SendTransform(bson_t &bson);

		// Accepts an json document (where .IsArray() is true) that contains
		// an array of geometry_msgs_transformstamped messages.
		// Only to be used in json mode
		void SendTransforms(json &geometry_msgs_transformstamped_array_msg);

		~ROSTFBroadcaster() = default;

	private:
		ROSBridge &ros_;
		ROSTopic tf_topic_{ ros_,"/tf","tf/tfMessage" };
	};
}