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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef JOINT_STATES_SETTLER_JOINT_STATES_DEFLATER_H_ 00036 #define JOINT_STATES_SETTLER_JOINT_STATES_DEFLATER_H_ 00037 00038 #include <sensor_msgs/JointState.h> 00039 #include <settlerlib/deflated.h> 00040 #include "deflated_joint_states.h" 00041 00042 namespace joint_states_settler 00043 { 00044 00052 class JointStatesDeflater 00053 { 00054 public: 00055 00056 JointStatesDeflater(); 00057 00062 void setDeflationJointNames(std::vector<std::string> joint_names); 00063 00069 void deflate(const sensor_msgs::JointStateConstPtr& joint_states, DeflatedJointStates& deflated_elem); 00070 00076 void prune(const sensor_msgs::JointState& joint_states, sensor_msgs::JointState& pruned_joint_states); 00077 00078 private: 00079 std::vector<unsigned int> mapping_; 00080 std::vector<std::string> joint_names_; 00081 00086 void updateMapping(const sensor_msgs::JointState& joint_states); 00087 00088 }; 00089 00090 } 00091 00092 #endif