joint_states_settler.h

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#ifndef JOINT_STATES_SETTLER_JOINT_STATES_SETTLER_H_
#define JOINT_STATES_SETTLER_JOINT_STATES_SETTLER_H_

#include <boost/shared_ptr.hpp>

#include <calibration_msgs/Interval.h>
#include <sensor_msgs/JointState.h>

#include <settlerlib/sorted_deque.h>

#include <joint_states_settler/ConfigGoal.h>

#include "joint_states_deflater.h"
#include "deflated_joint_states.h"

namespace joint_states_settler
{

class JointStatesSettler
{
public:
  JointStatesSettler();

  bool configure(const joint_states_settler::ConfigGoal& goal);

  calibration_msgs::Interval add(const sensor_msgs::JointStateConstPtr msg);
  sensor_msgs::JointState pruneJointState(const sensor_msgs::JointStateConstPtr msg);

private:
  bool configured_;
  JointStatesDeflater deflater_;
  std::vector<double> tol_;
  ros::Duration max_step_;

  typedef settlerlib::SortedDeque< boost::shared_ptr<const DeflatedJointStates> > DeflatedMsgCache;
  typedef settlerlib::SortedDeque<settlerlib::DeflatedConstPtr> DeflatedCache;
  DeflatedMsgCache cache_;

};

}

#endif