joint_state.hpp

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/*
 * Copyright 2015 Aldebaran
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef JOINT_STATE_RECORDER_HPP
#define JOINT_STATE_RECORDER_HPP

/*
* BOOST includes
*/
#include <boost/circular_buffer.hpp>

/*
* LOCAL includes
*/
#include <naoqi_driver/recorder/globalrecorder.hpp>
#include "../helpers/recorder_helpers.hpp"

/*
* ROS includes
*/
#include <sensor_msgs/JointState.h>

namespace naoqi
{
namespace recorder
{

class JointStateRecorder
{

public:
  JointStateRecorder( const std::string& topic, float buffer_frequency = 0 );

  void write( const sensor_msgs::JointState& js_msg,
              const std::vector<geometry_msgs::TransformStamped>& tf_transforms );

  void reset( boost::shared_ptr<naoqi::recorder::GlobalRecorder> gr, float conv_frequency );

  void bufferize( const sensor_msgs::JointState& js_msg,
                  const std::vector<geometry_msgs::TransformStamped>& tf_transforms );

  void writeDump(const ros::Time& time);

  void setBufferDuration(float duration);

  inline std::string topic() const
  {
    return topic_;
  }

  inline bool isInitialized() const
  {
    return is_initialized_;
  }

  inline void subscribe( bool state)
  {
    is_subscribed_ = state;
  }

  inline bool isSubscribed() const
  {
    return is_subscribed_;
  }

protected:
  std::string topic_;

  boost::circular_buffer<sensor_msgs::JointState> bufferJoinState_;
  boost::circular_buffer< std::vector<geometry_msgs::TransformStamped> > bufferTF_;
  size_t buffer_size_;
  float buffer_duration_;

  boost::mutex mutex_;

  bool is_initialized_;
  bool is_subscribed_;

  boost::shared_ptr<naoqi::recorder::GlobalRecorder> gr_;

  float buffer_frequency_;
  float conv_frequency_;
  int counter_;
  int max_counter_;

}; // class

} //publisher
} // naoqi

#endif