joint_states_settler: joint_states_settler: joint_states

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00034 
00036 
00037 #include <sstream>
00038 #include <joint_states_settler/joint_states_settler.h>
00039 #include <settlerlib/interval_calc.h>
00040 #include <ros/console.h>
00041 
00042 using namespace joint_states_settler;
00043 
00044 JointStatesSettler::JointStatesSettler() : cache_(&DeflatedMsgCache::getPtrStamp)
00045 {
00046   configured_ = false;
00047 }
00048 
00049 bool JointStatesSettler::configure(const joint_states_settler::ConfigGoal& goal)
00050 {
00051   const unsigned int N = goal.joint_names.size();
00052 
00053   if (N != goal.tolerances.size())
00054   {
00055     ROS_ERROR("Invalid configuration for JointStatesSettler:\n"
00056               "  [joint_names.size() == %u] should equal [tolerances.size() == %u]",
00057               goal.joint_names.size(), goal.tolerances.size());
00058     return false;
00059   }
00060 
00061   deflater_.setDeflationJointNames(goal.joint_names);
00062   tol_ = goal.tolerances;
00063   max_step_ = goal.max_step;
00064   cache_.clear();
00065   cache_.setMaxSize(goal.cache_size);
00066 
00067   std::ostringstream info;
00068   info << "Configuring JointStatesSettler with the following joints:";
00069   for (unsigned int i=0; i<N; i++)
00070     info << "\n   " << goal.joint_names[i] << ": " << goal.tolerances[i];
00071   ROS_DEBUG(info.str().c_str());
00072 
00073   configured_ = true;
00074   return true;
00075 }
00076 
00077 calibration_msgs::Interval JointStatesSettler::add(const sensor_msgs::JointStateConstPtr msg)
00078 {
00079   if (!configured_)
00080   {
00081     ROS_WARN("Not yet configured. Going to skip");
00082     return calibration_msgs::Interval();
00083   }
00084 
00085   boost::shared_ptr<DeflatedJointStates> deflated(new DeflatedJointStates);
00086   deflater_.deflate(msg, *deflated);
00087   cache_.add(deflated);
00088 
00089   DeflatedCache* bare_cache = (DeflatedCache*)(&cache_);
00090 
00091   calibration_msgs::Interval interval = settlerlib::IntervalCalc::computeLatestInterval(*bare_cache, tol_, max_step_);
00092 
00093   return interval;
00094 }
00095 
00096 sensor_msgs::JointState JointStatesSettler::pruneJointState(const sensor_msgs::JointStateConstPtr msg)
00097 {
00098   sensor_msgs::JointState pruned;
00099   deflater_.prune(*msg, pruned);
00100   return pruned;
00101 }
joint_states_settler.cpp
