joint_state_static_filter.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_JOINT_STATE_STATIC_FILTER_H_
00038 #define JSK_PCL_ROS_JOINT_STATE_STATIC_FILTER_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <boost/tuple/tuple.hpp>
00042 #include <float.h>
00043 #include <sensor_msgs/PointCloud2.h>
00044 #include <sensor_msgs/JointState.h>
00045 #include <boost/circular_buffer.hpp>
00046 #include <jsk_topic_tools/vital_checker.h>
00047 
00048 namespace jsk_pcl_ros
00049 {
00050 
00051   class JointStateStaticFilter: public jsk_topic_tools::DiagnosticNodelet
00052   {
00053   public:
00054     typedef boost::tuple<ros::Time, bool> StampedBool;
00055     JointStateStaticFilter(): DiagnosticNodelet("JointStateStaticFilter"),
00056                               buf_(100),
00057                               eps_(0.00001) { }
00058   protected:
00060     // methods
00062     virtual void onInit();
00063     virtual void filter(const sensor_msgs::PointCloud2::ConstPtr& msg);
00064     virtual void jointStateCallback(const sensor_msgs::JointState::ConstPtr& msg);
00065     virtual bool isStatic(const ros::Time& stamp);
00066     virtual void updateDiagnostic(
00067       diagnostic_updater::DiagnosticStatusWrapper &stat);
00068     virtual std::vector<double> filterJointState(
00069       const sensor_msgs::JointState::ConstPtr& msg);
00070     virtual void subscribe();
00071     virtual void unsubscribe();
00073     // ROS variables
00075     ros::Subscriber sub_input_;
00076     ros::Subscriber sub_joint_;
00077     ros::Publisher pub_;
00078     boost::circular_buffer<StampedBool> buf_;
00079     std::vector<double> previous_joints_;
00080     jsk_topic_tools::VitalChecker::Ptr joint_vital_;
00081     boost::mutex mutex_;
00083     // parameters
00085     std::vector<std::string> joint_names_;
00086     double eps_;
00087   private:
00088   };
00089 }
00090 
00091 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Wed Sep 16 2015 04:36:47