AnymalStaticTransforms.h

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/*
Copyright 2024 by Julian Nubert, Robotic Systems Lab, ETH Zurich.
All rights reserved.
This file is released under the "BSD-3-Clause License".
Please see the LICENSE file that has been included as part of this package.
 */
 
#ifndef AnymalStaticTransforms_H
#define AnymalStaticTransforms_H
 
// Workspace
#include "holistic_fusion_ros/extrinsics/StaticTransformsTf.h"
 
namespace anymal_se {
 
class AnymalStaticTransforms : public holistic_fusion::StaticTransformsTf {
 public:
  AnymalStaticTransforms(const std::shared_ptr<ros::NodeHandle> privateNodePtr);
 
  // Setters
  void setLioOdometryFrame(const std::string& s) { lioOdometryFrame_ = s; }
  void setGnssFrame(const std::string& s) { gnssFrame_ = s; }
  void setLeggedOdometryFrame(const std::string& s) { leggedOdometryFrame_ = s; }
 
  // Getters
  const std::string& getLioOdometryFrame() { return lioOdometryFrame_; }
  const std::string& getGnssFrame() { return gnssFrame_; }
  const std::string& getLeggedOdometryFrame() { return leggedOdometryFrame_; }
 
 private:
  bool findTransformations() override;
 
  // Members
  std::string lioOdometryFrame_;
  std::string gnssFrame_;
  std::string leggedOdometryFrame_;
};
}  // namespace anymal_se
#endif  // end AnymalStaticTransforms_H