laser_joint_processor.h

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#ifndef LASER_JOINT_PROCESSOR_LASER_JOINT_PROCESSOR_H_
#define LASER_JOINT_PROCESSOR_LASER_JOINT_PROCESSOR_H_

#include <laser_joint_processor/joint_imager.h>
#include <laser_joint_processor/joint_image_interpolator.h>
#include <settlerlib/sorted_deque.h>
#include <joint_states_settler/joint_states_deflater.h>
#include <sensor_msgs/JointState.h>
#include <calibration_msgs/DenseLaserSnapshot.h>
#include <calibration_msgs/CalibrationPattern.h>
#include <calibration_msgs/JointStateCalibrationPattern.h>


namespace laser_joint_processor
{

class LaserJointProcessor
{
public:

  LaserJointProcessor();

  void setCacheSize(unsigned int max_size);
  void setJointNames(const std::vector<std::string>& joint_names);

  bool addJointState(const sensor_msgs::JointStateConstPtr& joint_state);

  bool isSnapshotEarly(const calibration_msgs::DenseLaserSnapshot& snapshot) const;
  bool isSnapshotLate( const calibration_msgs::DenseLaserSnapshot& snapshot) const;

  ros::Time getEarliestJointStateTime() const;
  ros::Time getLatestJointStateTime() const;

  bool processLaserData( const calibration_msgs::DenseLaserSnapshot& snapshot,
                         const calibration_msgs::CalibrationPattern& features,
                         calibration_msgs::JointStateCalibrationPattern& result,
                         const ros::Duration& max_interp = ros::Duration(.25));

private:
  settlerlib::SortedDeque<joint_states_settler::DeflatedJointStates> joint_state_cache_;
  joint_states_settler::JointStatesDeflater deflater_;
  JointImager imager_;
  JointImageInterpolator interp_;
  std::vector<std::string> joint_names_;
};

}

#endif