joint_states_deflater.h
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00034 
00035 #ifndef JOINT_STATES_SETTLER_JOINT_STATES_DEFLATER_H_
00036 #define JOINT_STATES_SETTLER_JOINT_STATES_DEFLATER_H_
00037 
00038 #include <sensor_msgs/JointState.h>
00039 #include <settlerlib/deflated.h>
00040 #include "deflated_joint_states.h"
00041 
00042 namespace joint_states_settler
00043 {
00044 
00052 class JointStatesDeflater
00053 {
00054 public:
00055 
00056   JointStatesDeflater();
00057 
00062   void setDeflationJointNames(std::vector<std::string> joint_names);
00063 
00069   void deflate(const sensor_msgs::JointStateConstPtr& joint_states, DeflatedJointStates& deflated_elem);
00070 
00076   void prune(const sensor_msgs::JointState& joint_states, sensor_msgs::JointState& pruned_joint_states);
00077 
00078 private:
00079   std::vector<unsigned int> mapping_;
00080   std::vector<std::string> joint_names_;
00081 
00086   void updateMapping(const sensor_msgs::JointState& joint_states);
00087 
00088 };
00089 
00090 }
00091 
00092 #endif


joint_states_settler
Author(s): Vijay Pradeep, Eitan Marder-Eppstein
autogenerated on Sun Oct 5 2014 22:43:25