joint_state_reader.h

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#ifndef _RAPID_ROBOT_JOINT_STATE_READER_H_
#define _RAPID_ROBOT_JOINT_STATE_READER_H_

#include <map>
#include <string>
#include <vector>

#include "ros/ros.h"
#include "sensor_msgs/JointState.h"

namespace rapid {
class JointStateReader {
 public:
  JointStateReader();

  JointStateReader(const std::string& joint_states_topic);

  void Start();

  bool HasJoint(const std::string& name) const;

  double position(const std::string& name) const;

  std::map<std::string, double> positions() const;

  bool WaitForMessages(const ros::Duration& timeout) const;

  bool WaitForJoint(const std::string& name,
                    const ros::Duration& timeout) const;

 private:
  void callback(const sensor_msgs::JointState& msg);

  ros::NodeHandle nh_;
  ros::Subscriber sub_;
  std::string topic_;
  std::map<std::string, double> positions_;

  bool received_callback_;
};
}  // namespace rapid

#endif  // _RAPID_ROBOT_JOINT_STATE_READER_H_