joint_states_settler.cpp

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#include <sstream>
#include <joint_states_settler/joint_states_settler.h>
#include <settlerlib/interval_calc.h>
#include <ros/console.h>

using namespace joint_states_settler;

JointStatesSettler::JointStatesSettler() : cache_(&DeflatedMsgCache::getPtrStamp)
{
  configured_ = false;
}

bool JointStatesSettler::configure(const joint_states_settler::ConfigGoal& goal)
{
  const unsigned int N = goal.joint_names.size();

  if (N != goal.tolerances.size())
  {
    ROS_ERROR("Invalid configuration for JointStatesSettler:\n"
              "  [joint_names.size() == %u] should equal [tolerances.size() == %u]",
              goal.joint_names.size(), goal.tolerances.size());
    return false;
  }

  deflater_.setDeflationJointNames(goal.joint_names);
  tol_ = goal.tolerances;
  max_step_ = goal.max_step;
  cache_.clear();
  cache_.setMaxSize(goal.cache_size);

  std::ostringstream info;
  ROS_DEBUG("Configuring JointStatesSettler with the following joints:");
  for (unsigned int i=0; i<N; i++)
    ROS_DEBUG_STREAM("   " << goal.joint_names[i] << ": " << goal.tolerances[i]);

  configured_ = true;
  return true;
}

calibration_msgs::Interval JointStatesSettler::add(const sensor_msgs::JointStateConstPtr msg)
{
  if (!configured_)
  {
    ROS_WARN("Not yet configured. Going to skip");
    return calibration_msgs::Interval();
  }

  boost::shared_ptr<DeflatedJointStates> deflated(new DeflatedJointStates);
  deflater_.deflate(msg, *deflated);
  cache_.add(deflated);

  DeflatedCache* bare_cache = (DeflatedCache*)(&cache_);

  calibration_msgs::Interval interval = settlerlib::IntervalCalc::computeLatestInterval(*bare_cache, tol_, max_step_);

  return interval;
}

sensor_msgs::JointState JointStatesSettler::pruneJointState(const sensor_msgs::JointStateConstPtr msg)
{
  sensor_msgs::JointState pruned;
  deflater_.prune(*msg, pruned);
  return pruned;
}