ringcomp_nodelet::RingCompNodelet Class Reference

List of all members.

Classes
struct	Config
	configuration parameters More...
Public Member Functions
void	onInit ()
	RingCompNodelet ()
Private Member Functions
void	compInitialize ()
bool	findChannels (const sensor_msgs::PointCloudPtr &scan)
void	printmatrix (geometry_msgs::Point32 mat[][velodyne::N_LASERS])
void	processPointCloud (const sensor_msgs::PointCloudPtr &scan)
	callback for XYZ point cloud
void	pushPoint (sensor_msgs::PointCloud &pc, const geometry_msgs::Point32 &pt)
int	radtodeg (float rad)
void	ringMeasure (sensor_msgs::PointCloud &pc, geometry_msgs::Point32 vect[][velodyne::N_LASERS])
float	twodDistance (const geometry_msgs::Point32 &p1, const geometry_msgs::Point32 &p2)
Private Attributes
Config	config_
float	heading_
	heading of current scan
int	headingChan_
	heading channel number
ros::Publisher	output_
int	ring_
	ring number of current scan
int	ringChan_
	ring channel number
ros::Subscriber	velodyne_scan_

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Detailed Description

Definition at line 25 of file ringcomp_nodelet.cc.

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Constructor & Destructor Documentation

ringcomp_nodelet::RingCompNodelet::RingCompNodelet

(

)

[inline]

Definition at line 27 of file ringcomp_nodelet.cc.

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Member Function Documentation

void ringcomp_nodelet::RingCompNodelet::compInitialize

(

)

[private]

initializes obstacle ranges for case 1 lasers and compressions for case 2

Definition at line 245 of file ringcomp_nodelet.cc.

bool ringcomp_nodelet::RingCompNodelet::findChannels

(

const sensor_msgs::PointCloudPtr &

scan

)

[private]

find input channels

Returns:

true if successful

Postcondition:

Sets ringChan_, headingChan_ to agree with current scan.

Definition at line 333 of file ringcomp_nodelet.cc.

void ringcomp_nodelet::RingCompNodelet::onInit

(

)

nodelet initialization

Todo:

figure out where to get device height from without adding a vehicle-specific dependency

Definition at line 220 of file ringcomp_nodelet.cc.

void ringcomp_nodelet::RingCompNodelet::printmatrix

(

geometry_msgs::Point32

mat[][velodyne::N_LASERS]

)

[private]

Definition at line 317 of file ringcomp_nodelet.cc.

void ringcomp_nodelet::RingCompNodelet::processPointCloud

(

const sensor_msgs::PointCloudPtr &

scan

)

[private]

callback for XYZ point cloud

Definition at line 352 of file ringcomp_nodelet.cc.

void ringcomp_nodelet::RingCompNodelet::pushPoint	(	sensor_msgs::PointCloud &	pc,
		const geometry_msgs::Point32 &	pt
	)			[inline, private]

push a point onto a point cloud

Definition at line 41 of file ringcomp_nodelet.cc.

int ringcomp_nodelet::RingCompNodelet::radtodeg

(

float

rad

)

[private]

Converts radian input to integer degrees between 0 and 359

Definition at line 271 of file ringcomp_nodelet.cc.

void ringcomp_nodelet::RingCompNodelet::ringMeasure	(	sensor_msgs::PointCloud &	pc,
		geometry_msgs::Point32	vect[][velodyne::N_LASERS]
	)			[private]

Definition at line 292 of file ringcomp_nodelet.cc.

float ringcomp_nodelet::RingCompNodelet::twodDistance	(	const geometry_msgs::Point32 &	p1,
		const geometry_msgs::Point32 &	p2
	)			[inline, private]

Euclidean distance calculation

Definition at line 48 of file ringcomp_nodelet.cc.

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Member Data Documentation

Config ringcomp_nodelet::RingCompNodelet::config_ [private]

Definition at line 65 of file ringcomp_nodelet.cc.

float ringcomp_nodelet::RingCompNodelet::heading_ [private]

heading of current scan

Definition at line 69 of file ringcomp_nodelet.cc.

int ringcomp_nodelet::RingCompNodelet::headingChan_ [private]

heading channel number

Definition at line 70 of file ringcomp_nodelet.cc.

ros::Publisher ringcomp_nodelet::RingCompNodelet::output_ [private]

Definition at line 57 of file ringcomp_nodelet.cc.

int ringcomp_nodelet::RingCompNodelet::ring_ [private]

ring number of current scan

Definition at line 67 of file ringcomp_nodelet.cc.

int ringcomp_nodelet::RingCompNodelet::ringChan_ [private]

ring channel number

Definition at line 68 of file ringcomp_nodelet.cc.

ros::Subscriber ringcomp_nodelet::RingCompNodelet::velodyne_scan_ [private]

Definition at line 56 of file ringcomp_nodelet.cc.

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The documentation for this class was generated from the following file:

• ringcomp_nodelet.cc