dense_laser_assembler::DenseLaserAssembler Class Reference

Public Member Functions
void	add (const sensor_msgs::LaserScanConstPtr &laser_scan)
bool	assembleSnapshot (const ros::Time &start, const ros::Time &end, calibration_msgs::DenseLaserSnapshot &snapshot)
	Takes a vector of LaserScan messages, and composes them into one larger snapshot.
	DenseLaserAssembler (const unsigned int cache_size=100)
void	setCacheSize (const unsigned int cache_size)
Private Member Functions
bool	flattenScanVec (const std::vector< sensor_msgs::LaserScanConstPtr > &scans, calibration_msgs::DenseLaserSnapshot &snapshot)
	Takes a vector of LaserScan messages, and composes them into one larger snapshot.
bool	verifyMetadata (const calibration_msgs::DenseLaserSnapshot &snapshot, const sensor_msgs::LaserScan &scan)
	Internal data consistency check.
Private Attributes
settlerlib::SortedDeque < sensor_msgs::LaserScanConstPtr >	cache_
	Stores the history of laser scans.

Detailed Description

Definition at line 47 of file dense_laser_assembler.h.

DenseLaserAssembler::DenseLaserAssembler ( const unsigned int cache_size = 100 )

Definition at line 40 of file dense_laser_assembler.cpp.

void DenseLaserAssembler::add ( const sensor_msgs::LaserScanConstPtr & laser_scan )

Definition at line 51 of file dense_laser_assembler.cpp.

bool DenseLaserAssembler::assembleSnapshot	(	const ros::Time &	start,
		const ros::Time &	end,
		calibration_msgs::DenseLaserSnapshot &	snapshot
	)

Takes a vector of LaserScan messages, and composes them into one larger snapshot.

Parameters:

	start	The earliest scan time to be included in the snapshot
	end	The latest scan time to be included in the snapshot
	output,:	A populated snapshot message

Definition at line 56 of file dense_laser_assembler.cpp.

bool DenseLaserAssembler::flattenScanVec	(	const std::vector< sensor_msgs::LaserScanConstPtr > &	scans,
		calibration_msgs::DenseLaserSnapshot &	snapshot
	)			`[private]`

Takes a vector of LaserScan messages, and composes them into one larger snapshot.

Parameters:

	scans	Vector of laser scans
	snapshot	Output: A populated snapshot message

Returns:: True on success. Could fail if all the scans don't have the same metadata

Definition at line 69 of file dense_laser_assembler.cpp.

void DenseLaserAssembler::setCacheSize ( const unsigned int cache_size )

Definition at line 46 of file dense_laser_assembler.cpp.

bool DenseLaserAssembler::verifyMetadata	(	const calibration_msgs::DenseLaserSnapshot &	snapshot,
		const sensor_msgs::LaserScan &	scan
	)			`[private]`

Internal data consistency check.

A check to make sure that a scan's metadata matches the metadata of the snapshot.

Parameters:

	snapshot	The snapshot to compare against
	scan	the scan to compare against

Definition at line 153 of file dense_laser_assembler.cpp.

settlerlib::SortedDeque<sensor_msgs::LaserScanConstPtr> dense_laser_assembler::DenseLaserAssembler::cache_ [private]

Stores the history of laser scans.

Definition at line 65 of file dense_laser_assembler.h.

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