nifti_user/ocu/src/PictureMetadataUtil.cpp
void PictureMetadataUtil::publishPose(double w, double x, double y, double z)
            {
                geometry_msgs::PoseStamped message;

                message.header.frame_id = "/map";

                // position is 0,0,0

                message.pose.orientation.w = w;
                message.pose.orientation.x = x;
                message.pose.orientation.y = y;
                message.pose.orientation.z = z;


                if (publisherIsInitialized == false)
                {
                    publisher = eu::nifti::ocu::NIFTiROSUtil::getNodeHandle()->advertise<geometry_msgs::PoseStamped > ("/PicViewer/Pose", 1);
                    publisherIsInitialized = true;
                }

                publisher.publish(message);
            }
// So far, this is only a debugging method
So far, this is only a debugging method
So far this is only a debugging method
void PictureMetadataUtil::publishPose(double w, double x, double y, double z)
            {
                geometry_msgs::PoseStamped message;
                message.header.frame_id = "/map";
                message.pose.orientation.w = w;
                message.pose.orientation.x = x;
                message.pose.orientation.y = y;
                message.pose.orientation.z = z;
                if (publisherIsInitialized == false)
                {
                    publisher = eu::nifti::ocu::NIFTiROSUtil::getNodeHandle()->advertise<geometry_msgs::PoseStamped > ("/PicViewer/Pose", 1);
                    publisherIsInitialized = true;
                }
                publisher.publish(message);
            }
void PictureMetadataUtil :: publishPose ( double w , double x , double y , double z ) { geometry_msgs :: PoseStamped message ; message . header . frame_id = " " ; message . pose . orientation . w = w ; message . pose . orientation . x = x ; message . pose . orientation . y = y ; message . pose . orientation . z = z ; if ( publisherIsInitialized == false ) { publisher = eu :: nifti :: ocu :: NIFTiROSUtil :: getNodeHandle ( ) -> advertise < geometry_msgs :: PoseStamped > ( " " , 1 ) ; publisherIsInitialized = true ; } publisher . publish ( message ) ; }
So far, this is only a debugging method
So far this is only a debugging method
// position is 0,0,0