Public Member Functions | Private Member Functions | Private Attributes | List of all members
joint_states_settler::JointStatesDeflater Class Reference

Given a set a joint names, efficiently extracts a subset of joint positions. More...

#include <joint_states_deflater.h>

Public Member Functions

void deflate (const sensor_msgs::JointStateConstPtr &joint_states, DeflatedJointStates &deflated_elem)
 Perform the deflation on a joint_states message. More...
 
 JointStatesDeflater ()
 
void prune (const sensor_msgs::JointState &joint_states, sensor_msgs::JointState &pruned_joint_states)
 Remove all the joints that we don't care about. More...
 
void setDeflationJointNames (std::vector< std::string > joint_names)
 Specify which joints to extract. More...
 

Private Member Functions

void updateMapping (const sensor_msgs::JointState &joint_states)
 Given a stereotypical JointStates message, computes the mapping from JointStates to the deflated data. More...
 

Private Attributes

std::vector< std::string > joint_names_
 
std::vector< unsigned int > mapping_
 

Detailed Description

Given a set a joint names, efficiently extracts a subset of joint positions.

This class is generally more efficient than other methods, because it caches the the mapping from the incoming joint_states message to the deflated vector. It also updates the mapping whenever the ordering in joint_states changes

Definition at line 52 of file joint_states_deflater.h.

Constructor & Destructor Documentation

JointStatesDeflater::JointStatesDeflater ( )

Definition at line 41 of file joint_states_deflater.cpp.

Member Function Documentation

void JointStatesDeflater::deflate ( const sensor_msgs::JointStateConstPtr &  joint_states,
DeflatedJointStates deflated_elem 
)

Perform the deflation on a joint_states message.

Parameters
joint_statesIncoming JointStates message
Ouputdatatype. Stores the deflated data, along with the original joint states message

Definition at line 52 of file joint_states_deflater.cpp.

void JointStatesDeflater::prune ( const sensor_msgs::JointState &  joint_states,
sensor_msgs::JointState &  pruned_joint_states 
)

Remove all the joints that we don't care about.

Parameters
joint_statesInput: The full vector of joint states
pruned_joint_statesOutput: The output vector with a subset of the joint states, in the requested order

Definition at line 80 of file joint_states_deflater.cpp.

void JointStatesDeflater::setDeflationJointNames ( std::vector< std::string >  joint_names)

Specify which joints to extract.

Parameters
joint_namesOrdered list of joint names to extract

Definition at line 46 of file joint_states_deflater.cpp.

void JointStatesDeflater::updateMapping ( const sensor_msgs::JointState &  joint_states)
private

Given a stereotypical JointStates message, computes the mapping from JointStates to the deflated data.

Definition at line 115 of file joint_states_deflater.cpp.

Member Data Documentation

std::vector<std::string> joint_states_settler::JointStatesDeflater::joint_names_
private

Definition at line 80 of file joint_states_deflater.h.

std::vector<unsigned int> joint_states_settler::JointStatesDeflater::mapping_
private

Definition at line 79 of file joint_states_deflater.h.


The documentation for this class was generated from the following files:


joint_states_settler
Author(s): Vijay Pradeep, Eitan Marder-Eppstein
autogenerated on Thu Jun 6 2019 19:17:25