joint_state_static_filter.h
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35 
36 
37 #ifndef JSK_PCL_ROS_JOINT_STATE_STATIC_FILTER_H_
38 #define JSK_PCL_ROS_JOINT_STATE_STATIC_FILTER_H_
39 
41 #include <boost/tuple/tuple.hpp>
42 #include <float.h>
43 #include <sensor_msgs/PointCloud2.h>
44 #include <sensor_msgs/JointState.h>
45 #include <boost/circular_buffer.hpp>
47 
48 namespace jsk_pcl_ros
49 {
50 
52  {
53  public:
54  typedef boost::tuple<ros::Time, bool> StampedBool;
55  JointStateStaticFilter(): DiagnosticNodelet("JointStateStaticFilter"),
56  buf_(100),
57  eps_(0.00001) { }
58  protected:
60  // methods
62  virtual void onInit();
63  virtual void filter(const sensor_msgs::PointCloud2::ConstPtr& msg);
64  virtual void jointStateCallback(const sensor_msgs::JointState::ConstPtr& msg);
65  virtual bool isStatic(const ros::Time& stamp);
66  virtual void updateDiagnostic(
68  virtual std::vector<double> filterJointState(
69  const sensor_msgs::JointState::ConstPtr& msg);
70  virtual void subscribe();
71  virtual void unsubscribe();
73  // ROS variables
78  boost::circular_buffer<StampedBool> buf_;
79  std::vector<double> previous_joints_;
83  // parameters
85  std::vector<std::string> joint_names_;
86  double eps_;
87  private:
88  };
89 }
90 
91 #endif
virtual void filter(const sensor_msgs::PointCloud2::ConstPtr &msg)
virtual void jointStateCallback(const sensor_msgs::JointState::ConstPtr &msg)
boost::tuple< ros::Time, bool > StampedBool
jsk_topic_tools::VitalChecker::Ptr joint_vital_
DiagnosticNodelet(const std::string &name)
virtual std::vector< double > filterJointState(const sensor_msgs::JointState::ConstPtr &msg)
virtual void updateDiagnostic(diagnostic_updater::DiagnosticStatusWrapper &stat)
boost::mutex mutex
global mutex.
boost::circular_buffer< StampedBool > buf_


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Mon May 3 2021 03:03:47