joint_states_settler: joint_states_settler: joint_states

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00034 
00036 
00037 #ifndef JOINT_STATES_SETTLER_JOINT_STATES_SETTLER_H_
00038 #define JOINT_STATES_SETTLER_JOINT_STATES_SETTLER_H_
00039 
00040 #include <boost/shared_ptr.hpp>
00041 
00042 #include <calibration_msgs/Interval.h>
00043 #include <sensor_msgs/JointState.h>
00044 
00045 #include <settlerlib/sorted_deque.h>
00046 
00047 #include <joint_states_settler/ConfigGoal.h>
00048 
00049 #include "joint_states_deflater.h"
00050 #include "deflated_joint_states.h"
00051 
00052 namespace joint_states_settler
00053 {
00054 
00055 class JointStatesSettler
00056 {
00057 public:
00058   JointStatesSettler();
00059 
00060   bool configure(const joint_states_settler::ConfigGoal& goal);
00061 
00062   calibration_msgs::Interval add(const sensor_msgs::JointStateConstPtr msg);
00063   sensor_msgs::JointState pruneJointState(const sensor_msgs::JointStateConstPtr msg);
00064 
00065 private:
00066   bool configured_;
00067   JointStatesDeflater deflater_;
00068   std::vector<double> tol_;
00069   ros::Duration max_step_;
00070 
00071   typedef settlerlib::SortedDeque< boost::shared_ptr<const DeflatedJointStates> > DeflatedMsgCache;
00072   typedef settlerlib::SortedDeque<settlerlib::DeflatedConstPtr> DeflatedCache;
00073   DeflatedMsgCache cache_;
00074 
00075 };
00076 
00077 }
00078 
00079 #endif
joint_states_settler.h
