joint_state_monitor.h
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00034 
00037 #ifndef PLANNING_ENVIRONMENT_JOINT_STATE_MONITOR
00038 #define PLANNING_ENVIRONMENT_JOINT_STATE_MONITOR
00039 
00040 #include <ros/ros.h>
00041 #include <sensor_msgs/JointState.h>
00042 
00043 #include <urdf/model.h>
00044 
00045 #include <boost/thread/mutex.hpp>
00046 #include <boost/thread/condition.hpp>
00047 #include <vector>
00048 #include <string>
00049 #include <map>
00050 
00051 namespace planning_environment
00052 {
00055   class JointStateMonitor
00056   {
00057     public:
00058       
00059     JointStateMonitor();
00060     void stop(void);
00061     sensor_msgs::JointState getJointState();
00062     sensor_msgs::JointState getJointStateRealJoints();
00063     sensor_msgs::JointState getJointState(std::vector<std::string> names);
00064     ros::Time last_update_;
00065     bool active_;
00066 
00067     private:
00068     ros::Subscriber joint_state_subscriber_;
00069     bool state_monitor_started_;
00070     bool first_time_;
00071     sensor_msgs::JointState joint_state_;
00072     std::map<std::string,int> joint_state_index_;
00073     void jointStateCallback(const sensor_msgs::JointStateConstPtr &joint_state);
00074     boost::mutex state_mutex_;
00075     ros::NodeHandle root_handle_;
00076     std::vector<int> joint_real_state_index_;
00077     urdf::Model robot_model_;
00078   };
00079 
00080 }
00081 
00082 #endif


planning_environment
Author(s): Ioan Sucan
autogenerated on Mon Dec 2 2013 12:34:43