joint_states_deflater.h

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#ifndef JOINT_STATES_SETTLER_JOINT_STATES_DEFLATER_H_
#define JOINT_STATES_SETTLER_JOINT_STATES_DEFLATER_H_

#include <sensor_msgs/JointState.h>
#include <settlerlib/deflated.h>
#include "deflated_joint_states.h"

namespace joint_states_settler
{

class JointStatesDeflater
{
public:

  JointStatesDeflater();

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

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

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

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

  void updateMapping(const sensor_msgs::JointState& joint_states);

};

}

#endif