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