laser_joint_processor: joint_imager.h Source File

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00034 
00035 #ifndef LASER_JOINT_PROCESSOR_JOINT_IMAGER_H_
00036 #define LASER_JOINT_PROCESSOR_JOINT_IMAGER_H_
00037 
00038 #include <settlerlib/sorted_deque.h>
00039 #include <joint_states_settler/deflated_joint_states.h>
00040 #include <calibration_msgs/DenseLaserSnapshot.h>
00041 #include <opencv/cv.h>
00042 
00043 namespace laser_joint_processor
00044 {
00045 
00046 class JointImager
00047 {
00048 public:
00049   JointImager();
00050   ~JointImager();
00051 
00052   bool update(const calibration_msgs::DenseLaserSnapshot& snapshot,
00053               const settlerlib::SortedDeque<joint_states_settler::DeflatedJointStates>& cache,
00054               const ros::Duration& max_interp = ros::Duration(.25));
00055 
00056   void displayImage(unsigned int i);
00057   void writeImage(unsigned int i, const std::string& filename);
00058   IplImage* getJointImage(unsigned int index) const;
00059 
00060 protected:
00061   std::vector< IplImage* > images;
00062 
00063   bool interpPosition(const ros::Time& target,
00064                       const settlerlib::SortedDeque<joint_states_settler::DeflatedJointStates>& cache,
00065                       std::vector<double>& result);
00066 
00067   bool computeVelocity(const ros::Time& start, const ros::Time& end,
00068                        const settlerlib::SortedDeque<joint_states_settler::DeflatedJointStates>& cache,
00069                        std::vector<double>& result);
00070 
00071   void allocateImages(unsigned int height, unsigned int width, unsigned int channels);
00072 
00073 };
00074 
00075 }
00076 
00077 
00078 #endif
00079