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_states	Incoming JointStates message
Ouput	datatype. 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_states	Input: The full vector of joint states
pruned_joint_states	Output: 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_names

Ordered 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.

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

• joint_states_deflater.h
• joint_states_deflater.cpp