joint_states_settler.cpp
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00034 
00036 
00037 #include <sstream>
00038 #include <joint_states_settler/joint_states_settler.h>
00039 #include <settlerlib/interval_calc.h>
00040 #include <ros/console.h>
00041 
00042 using namespace joint_states_settler;
00043 
00044 JointStatesSettler::JointStatesSettler() : cache_(&DeflatedMsgCache::getPtrStamp)
00045 {
00046   configured_ = false;
00047 }
00048 
00049 bool JointStatesSettler::configure(const joint_states_settler::ConfigGoal& goal)
00050 {
00051   const unsigned int N = goal.joint_names.size();
00052 
00053   if (N != goal.tolerances.size())
00054   {
00055     ROS_ERROR("Invalid configuration for JointStatesSettler:\n"
00056               "  [joint_names.size() == %u] should equal [tolerances.size() == %u]",
00057               goal.joint_names.size(), goal.tolerances.size());
00058     return false;
00059   }
00060 
00061   deflater_.setDeflationJointNames(goal.joint_names);
00062   tol_ = goal.tolerances;
00063   max_step_ = goal.max_step;
00064   cache_.clear();
00065   cache_.setMaxSize(goal.cache_size);
00066 
00067   std::ostringstream info;
00068   ROS_DEBUG("Configuring JointStatesSettler with the following joints:");
00069   for (unsigned int i=0; i<N; i++)
00070     ROS_DEBUG_STREAM("   " << goal.joint_names[i] << ": " << goal.tolerances[i]);
00071 
00072   configured_ = true;
00073   return true;
00074 }
00075 
00076 calibration_msgs::Interval JointStatesSettler::add(const sensor_msgs::JointStateConstPtr msg)
00077 {
00078   if (!configured_)
00079   {
00080     ROS_WARN("Not yet configured. Going to skip");
00081     return calibration_msgs::Interval();
00082   }
00083 
00084   boost::shared_ptr<DeflatedJointStates> deflated(new DeflatedJointStates);
00085   deflater_.deflate(msg, *deflated);
00086   cache_.add(deflated);
00087 
00088   DeflatedCache* bare_cache = (DeflatedCache*)(&cache_);
00089 
00090   calibration_msgs::Interval interval = settlerlib::IntervalCalc::computeLatestInterval(*bare_cache, tol_, max_step_);
00091 
00092   return interval;
00093 }
00094 
00095 sensor_msgs::JointState JointStatesSettler::pruneJointState(const sensor_msgs::JointStateConstPtr msg)
00096 {
00097   sensor_msgs::JointState pruned;
00098   deflater_.prune(*msg, pruned);
00099   return pruned;
00100 }


joint_states_settler
Author(s): Vijay Pradeep, Eitan Marder-Eppstein
autogenerated on Sat Jun 8 2019 19:41:54