// -*- mode: c++ -*-
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#ifndef JSK_PCL_ROS_JOINT_STATE_STATIC_FILTER_H_
#define JSK_PCL_ROS_JOINT_STATE_STATIC_FILTER_H_

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <boost/tuple/tuple.hpp>
#include <float.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/JointState.h>
#include <boost/circular_buffer.hpp>
#include <jsk_topic_tools/vital_checker.h>

namespace jsk_pcl_ros
{

  class JointStateStaticFilter: public jsk_topic_tools::DiagnosticNodelet
  {
  public:
    typedef boost::tuple<ros::Time, bool> StampedBool;
    JointStateStaticFilter(): DiagnosticNodelet("JointStateStaticFilter"),
                              buf_(100),
                              eps_(0.00001) { }
  protected:
    ////////////////////////////////////////////////////////
    // methods
    ////////////////////////////////////////////////////////
    virtual void onInit();
    virtual void filter(const sensor_msgs::PointCloud2::ConstPtr& msg);
    virtual void jointStateCallback(const sensor_msgs::JointState::ConstPtr& msg);
    virtual bool isStatic(const ros::Time& stamp);
    virtual void updateDiagnostic(
      diagnostic_updater::DiagnosticStatusWrapper &stat);
    virtual std::vector<double> filterJointState(
      const sensor_msgs::JointState::ConstPtr& msg);
    virtual void subscribe();
    virtual void unsubscribe();
    ////////////////////////////////////////////////////////
    // ROS variables
    ////////////////////////////////////////////////////////
    ros::Subscriber sub_input_;
    ros::Subscriber sub_joint_;
    ros::Publisher pub_;
    boost::circular_buffer<StampedBool> buf_;
    std::vector<double> previous_joints_;
    jsk_topic_tools::VitalChecker::Ptr joint_vital_;
    boost::mutex mutex_;
    ////////////////////////////////////////////////////////
    // parameters
    ////////////////////////////////////////////////////////
    std::vector<std::string> joint_names_;
    double eps_;
  private:
  };
}

#endif
