joint_states_deflater.h
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34 
35 #ifndef JOINT_STATES_SETTLER_JOINT_STATES_DEFLATER_H_
36 #define JOINT_STATES_SETTLER_JOINT_STATES_DEFLATER_H_
37 
38 #include <sensor_msgs/JointState.h>
39 #include <settlerlib/deflated.h>
40 #include "deflated_joint_states.h"
41 
42 namespace joint_states_settler
43 {
44 
53 {
54 public:
55 
57 
62  void setDeflationJointNames(std::vector<std::string> joint_names);
63 
69  void deflate(const sensor_msgs::JointStateConstPtr& joint_states, DeflatedJointStates& deflated_elem);
70 
76  void prune(const sensor_msgs::JointState& joint_states, sensor_msgs::JointState& pruned_joint_states);
77 
78 private:
79  std::vector<unsigned int> mapping_;
80  std::vector<std::string> joint_names_;
81 
86  void updateMapping(const sensor_msgs::JointState& joint_states);
87 
88 };
89 
90 }
91 
92 #endif
void prune(const sensor_msgs::JointState &joint_states, sensor_msgs::JointState &pruned_joint_states)
Remove all the joints that we don&#39;t care about.
void updateMapping(const sensor_msgs::JointState &joint_states)
Given a stereotypical JointStates message, computes the mapping from JointStates to the deflated data...
void deflate(const sensor_msgs::JointStateConstPtr &joint_states, DeflatedJointStates &deflated_elem)
Perform the deflation on a joint_states message.
void setDeflationJointNames(std::vector< std::string > joint_names)
Specify which joints to extract.
Given a set a joint names, efficiently extracts a subset of joint positions.


joint_states_settler
Author(s): Vijay Pradeep, Eitan Marder-Eppstein
autogenerated on Fri Apr 2 2021 02:13:00