Public Member Functions
|void ||deflate (const sensor_msgs::JointStateConstPtr &joint_states, DeflatedJointStates &deflated_elem)|
| ||Perform the deflation on a joint_states message. |
| ||JointStatesDeflater ()|
|void ||prune (const sensor_msgs::JointState &joint_states, sensor_msgs::JointState &pruned_joint_states)|
| ||Remove all the joints that we don't care about. |
|void ||setDeflationJointNames (std::vector< std::string > joint_names)|
| ||Specify which joints to extract. |
Private Member Functions
|void ||updateMapping (const sensor_msgs::JointState &joint_states)|
| ||Given a stereotypical JointStates message, computes the mapping from JointStates to the deflated data. |
|std::vector< std::string > ||joint_names_|
|std::vector< unsigned int > ||mapping_|
Given a set a joint names, efficiently extracts a subset of joint positions.
This class is generally more efficient than other methods, because it caches the the mapping from the incoming joint_states message to the deflated vector. It also updates the mapping whenever the ordering in joint_states changes
Definition at line 52 of file joint_states_deflater.h.