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import rospy
import tf
import tf.msg
import geometry_msgs.msg
import math

class TransformBroadcaster:
    """
    :class:`TransformBroadcaster` is a convenient way to send transformation updates on the ``"/tf"`` message topic.
    """

    def __init__(self):
        self.pub_tf = rospy.Publisher("/tf", tf.msg.tfMessage)

    def sendTransform(self, translation, rotation, time, child, parent):
        """
        :param translation: the translation of the transformtion as a tuple (x, y, z)
        :param rotation: the rotation of the transformation as a tuple (x, y, z, w)
        :param time: the time of the transformation, as a rospy.Time()
        :param child: child frame in tf, string
        :param parent: parent frame in tf, string

        Broadcast the transformation from tf frame child to parent on ROS topic ``"/tf"``.
        """

        t = geometry_msgs.msg.TransformStamped()
        t.header.frame_id = parent
        t.header.stamp = time
        t.child_frame_id = child
        t.transform.translation.x = translation[0]
        t.transform.translation.y = translation[1]
        t.transform.translation.z = translation[2]

        t.transform.rotation.x = rotation[0]
        t.transform.rotation.y = rotation[1]
        t.transform.rotation.z = rotation[2]
        t.transform.rotation.w = rotation[3]

        tfm = tf.msg.tfMessage([t])
        self.pub_tf.publish(tfm)

if __name__ == '__main__':
    rospy.init_node('tf_turtle')
    tfb = TurtleTFBroadcaster(rospy.get_param('~turtle'))
    rospy.spin()
