laser_joint_processor: laser_joint_processor.h Source File

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00034 
00035 #ifndef LASER_JOINT_PROCESSOR_LASER_JOINT_PROCESSOR_H_
00036 #define LASER_JOINT_PROCESSOR_LASER_JOINT_PROCESSOR_H_
00037 
00038 #include <laser_joint_processor/joint_imager.h>
00039 #include <laser_joint_processor/joint_image_interpolator.h>
00040 #include <settlerlib/sorted_deque.h>
00041 #include <joint_states_settler/joint_states_deflater.h>
00042 #include <sensor_msgs/JointState.h>
00043 #include <calibration_msgs/DenseLaserSnapshot.h>
00044 #include <calibration_msgs/CalibrationPattern.h>
00045 #include <calibration_msgs/JointStateCalibrationPattern.h>
00046 
00047 
00048 namespace laser_joint_processor
00049 {
00050 
00051 class LaserJointProcessor
00052 {
00053 public:
00054 
00055   LaserJointProcessor();
00056 
00057   void setCacheSize(unsigned int max_size);
00058   void setJointNames(const std::vector<std::string>& joint_names);
00059 
00060   bool addJointState(const sensor_msgs::JointStateConstPtr& joint_state);
00061 
00062   bool isSnapshotEarly(const calibration_msgs::DenseLaserSnapshot& snapshot) const;
00063   bool isSnapshotLate( const calibration_msgs::DenseLaserSnapshot& snapshot) const;
00064 
00065   ros::Time getEarliestJointStateTime() const;
00066   ros::Time getLatestJointStateTime() const;
00067 
00068   bool processLaserData( const calibration_msgs::DenseLaserSnapshot& snapshot,
00069                          const calibration_msgs::CalibrationPattern& features,
00070                          calibration_msgs::JointStateCalibrationPattern& result,
00071                          const ros::Duration& max_interp = ros::Duration(.25));
00072 
00073 private:
00074   settlerlib::SortedDeque<joint_states_settler::DeflatedJointStates> joint_state_cache_;
00075   joint_states_settler::JointStatesDeflater deflater_;
00076   JointImager imager_;
00077   JointImageInterpolator interp_;
00078   std::vector<std::string> joint_names_;
00079 };
00080 
00081 }
00082 
00083 #endif
00084