joint_states_deflater.cpp

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#include "joint_states_settler/joint_states_deflater.h"

using namespace std;
using namespace joint_states_settler;

JointStatesDeflater::JointStatesDeflater()
{
  mapping_.clear();
}

void JointStatesDeflater::setDeflationJointNames(std::vector<std::string> joint_names)
{
  joint_names_ = joint_names;
  mapping_.resize(joint_names_.size());
}

void JointStatesDeflater::deflate(const sensor_msgs::JointStateConstPtr& joint_states, DeflatedJointStates& deflated_elem)
{
  if (joint_states->get_name_size() !=  joint_states->get_position_size()){
    ROS_ERROR("JointStatesDeflater got invalid joint state message");
    return;
  }

  if (mapping_.size() != joint_names_.size())
    updateMapping(*joint_states);

  const unsigned int N = joint_names_.size();

  deflated_elem.channels_.resize(N);

  for (unsigned int i=0; i<N; i++)
  {
    if ( mapping_[i] >= joint_states->name.size() )
      updateMapping(*joint_states);

    if ( joint_states->name[mapping_[i]] != joint_names_[i])
      updateMapping(*joint_states);

    deflated_elem.header = joint_states->header;
    deflated_elem.channels_[i] = joint_states->position[mapping_[i]];
    deflated_elem.msg_ = joint_states;
  }
}

void JointStatesDeflater::prune(const sensor_msgs::JointState& joint_states, sensor_msgs::JointState& pruned_joint_states)
{
  if (joint_states.get_name_size() !=  joint_states.get_position_size())
  {
    ROS_ERROR("JointStatesDeflater got invalid joint state message. name's size and position's size don't match.");
    return;
  }

  if (mapping_.size() != joint_names_.size())
    updateMapping(joint_states);

  const unsigned int N = joint_names_.size();

  // Initialize Structures
  pruned_joint_states.header.stamp = joint_states.header.stamp;
  pruned_joint_states.name.resize(N);
  pruned_joint_states.position.resize(N);
  pruned_joint_states.velocity.clear();
  pruned_joint_states.effort.clear();

  for (unsigned int i=0; i<N; i++)
  {
    if ( mapping_[i] >= joint_states.name.size() )
      updateMapping(joint_states);

    if ( joint_states.name[mapping_[i]] != joint_names_[i])
      updateMapping(joint_states);

    pruned_joint_states.name[i]     = joint_states.name[mapping_[i]];
    pruned_joint_states.position[i] = joint_states.position[mapping_[i]];

    // Currently not copying over velocity or effort. Maybe we should be doing this...
  }
}

void JointStatesDeflater::updateMapping(const sensor_msgs::JointState& joint_states)
{
  ROS_DEBUG("Updating the JointStates mapping");

  const unsigned int N = joint_names_.size();

  mapping_.resize(N);

  for (unsigned int i=0; i<N; i++)
  {
    bool mapping_found = false;
    for (unsigned int j=0; j<joint_states.name.size(); j++)
    {
      if ( joint_names_[i] == joint_states.name[j])
      {
        mapping_[i] = j;
        mapping_found = true;
      }
    }
    ROS_ERROR_COND(!mapping_found, "Couldn't find mapping for [%s]", joint_names_[i].c_str());
  }
}

---

joint_states_settler
Author(s): Vijay Pradeep
autogenerated on Fri Jan 11 09:14:37 2013