00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00036 00037 #include <sstream> 00038 #include <joint_states_settler/joint_states_settler.h> 00039 #include <settlerlib/interval_calc.h> 00040 #include <ros/console.h> 00041 00042 using namespace joint_states_settler; 00043 00044 JointStatesSettler::JointStatesSettler() : cache_(&DeflatedMsgCache::getPtrStamp) 00045 { 00046 configured_ = false; 00047 } 00048 00049 bool JointStatesSettler::configure(const joint_states_settler::ConfigGoal& goal) 00050 { 00051 const unsigned int N = goal.joint_names.size(); 00052 00053 if (N != goal.tolerances.size()) 00054 { 00055 ROS_ERROR("Invalid configuration for JointStatesSettler:\n" 00056 " [joint_names.size() == %u] should equal [tolerances.size() == %u]", 00057 goal.joint_names.size(), goal.tolerances.size()); 00058 return false; 00059 } 00060 00061 deflater_.setDeflationJointNames(goal.joint_names); 00062 tol_ = goal.tolerances; 00063 max_step_ = goal.max_step; 00064 cache_.clear(); 00065 cache_.setMaxSize(goal.cache_size); 00066 00067 std::ostringstream info; 00068 info << "Configuring JointStatesSettler with the following joints:"; 00069 for (unsigned int i=0; i<N; i++) 00070 info << "\n " << goal.joint_names[i] << ": " << goal.tolerances[i]; 00071 ROS_DEBUG(info.str().c_str()); 00072 00073 configured_ = true; 00074 return true; 00075 } 00076 00077 calibration_msgs::Interval JointStatesSettler::add(const sensor_msgs::JointStateConstPtr msg) 00078 { 00079 if (!configured_) 00080 { 00081 ROS_WARN("Not yet configured. Going to skip"); 00082 return calibration_msgs::Interval(); 00083 } 00084 00085 boost::shared_ptr<DeflatedJointStates> deflated(new DeflatedJointStates); 00086 deflater_.deflate(msg, *deflated); 00087 cache_.add(deflated); 00088 00089 DeflatedCache* bare_cache = (DeflatedCache*)(&cache_); 00090 00091 calibration_msgs::Interval interval = settlerlib::IntervalCalc::computeLatestInterval(*bare_cache, tol_, max_step_); 00092 00093 return interval; 00094 } 00095 00096 sensor_msgs::JointState JointStatesSettler::pruneJointState(const sensor_msgs::JointStateConstPtr msg) 00097 { 00098 sensor_msgs::JointState pruned; 00099 deflater_.prune(*msg, pruned); 00100 return pruned; 00101 }