#include <ArmJointStateSubscriber.h>

Public Member Functions
std::vector< float >	armAngles (bool &valid) const
	ArmJointStateSubscriber (const ArmComponentsNameManager &_manager, ros::NodeHandle &n, const std::string &joint_states_topic)
std::vector< float >	gripperAngles (bool &valid) const
bool	isActive () const
void	setActive (bool flag)
std::string	toString () const
bool	waitForUpdate (float timeout=-1, float checkStepTime=0.1) const
	~ArmJointStateSubscriber ()
Private Types
typedef baselib_binding::unique_lock < baselib_binding::recursive_mutex > ::type	unique_lock
Private Member Functions
void	callback (const sensor_msgs::JointState &msg)
ros::Time	getLastUpdateTime () const
Private Attributes
std::vector< float >	arm_angles
std::vector< float >	gripper_angles
const ArmComponentsNameManager	jointsManager
ros::Time	last_update_time
baselib_binding::recursive_mutex	mutex
ros::NodeHandle	node
ros::Subscriber	subscriber
bool	subscriberActive
bool	valid_arm
bool	valid_grippers
Friends
std::ostream &	operator<< (std::ostream &o, const ArmJointStateSubscriber &j)

Detailed Description

Helper class which subscribes to sensor_msgs::JointState topic to maintain up-to-date state of the arm. It does the updates only when active, which can be triggered with setActive(true).

Author:: Jennifer Buehler

Date:: March 2016

Definition at line 47 of file ArmJointStateSubscriber.h.

Member Typedef Documentation

typedef baselib_binding::unique_lock<baselib_binding::recursive_mutex>::type arm_components_name_manager::ArmJointStateSubscriber::unique_lock [private]

Definition at line 92 of file ArmJointStateSubscriber.h.

Constructor & Destructor Documentation

ArmJointStateSubscriber::ArmJointStateSubscriber	(	const ArmComponentsNameManager &	_manager,
		ros::NodeHandle &	n,
		const std::string &	joint_states_topic
	)

Definition at line 29 of file ArmJointStateSubscriber.cpp.

ArmJointStateSubscriber::~ArmJointStateSubscriber ( )

Definition at line 43 of file ArmJointStateSubscriber.cpp.

Member Function Documentation

std::vector< float > ArmJointStateSubscriber::armAngles ( bool & valid ) const

Definition at line 88 of file ArmJointStateSubscriber.cpp.

void ArmJointStateSubscriber::callback ( const sensor_msgs::JointState & msg ) [private]

Definition at line 116 of file ArmJointStateSubscriber.cpp.

ros::Time ArmJointStateSubscriber::getLastUpdateTime ( ) const [private]

Definition at line 82 of file ArmJointStateSubscriber.cpp.

std::vector< float > ArmJointStateSubscriber::gripperAngles ( bool & valid ) const

Definition at line 96 of file ArmJointStateSubscriber.cpp.

bool ArmJointStateSubscriber::isActive ( ) const

Returns:: true if subscriber is active. See also setActive(bool).

Definition at line 52 of file ArmJointStateSubscriber.cpp.

void ArmJointStateSubscriber::setActive ( bool flag )

Activates or deactivates the processing of incoming messages. This can be used to save a bit of processing time when updates are currently not required.

Definition at line 45 of file ArmJointStateSubscriber.cpp.

std::string ArmJointStateSubscriber::toString ( ) const

Definition at line 104 of file ArmJointStateSubscriber.cpp.

bool ArmJointStateSubscriber::waitForUpdate	(	float	timeout = `-1`,
		float	checkStepTime = `0.1`
	)		const

Waits for the next JointState message to arrive. Only succeeds if active (isActive() returns true)

Parameters:

timeout	the timeout, or negative if no timeout to be used
checkStepTime	time (in seconds) to sleep in-between checks wheter a new joint state has arrived.