velodyne_rawdata::RawData Class Reference

Velodyne data conversion class. More...

#include <rawdata.h>

List of all members.

Classes
struct	Config
Public Member Functions
	RawData ()
int	setup (ros::NodeHandle private_nh)
	Set up for data processing.
void	unpack (const velodyne_msgs::VelodynePacket &pkt, VPointCloud &pc)
	convert raw packet to point cloud
	~RawData ()
Private Member Functions
bool	pointInRange (float range)
Private Attributes
velodyne_pointcloud::Calibration	calibration_
Config	config_
float	cos_rot_table_ [ROTATION_MAX_UNITS]
float	sin_rot_table_ [ROTATION_MAX_UNITS]

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Detailed Description

Velodyne data conversion class.

Definition at line 112 of file rawdata.h.

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Constructor & Destructor Documentation

velodyne_rawdata::RawData::RawData

(

)

Definition at line 44 of file rawdata.cc.

velodyne_rawdata::RawData::~RawData

(

)

[inline]

Definition at line 117 of file rawdata.h.

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Member Function Documentation

bool velodyne_rawdata::RawData::pointInRange

(

float

range

)

[inline, private]

in-line test whether a point is in range

Definition at line 152 of file rawdata.h.

int velodyne_rawdata::RawData::setup

(

ros::NodeHandle

private_nh

)

Set up for data processing.

Perform initializations needed before data processing can begin:

• read device-specific angles calibration

Parameters:

private_nh

private node handle for ROS parameters

Returns:

0 if successful; errno value for failure

Set up for on-line operation.

Definition at line 47 of file rawdata.cc.

void velodyne_rawdata::RawData::unpack	(	const velodyne_msgs::VelodynePacket &	pkt,
		VPointCloud &	pc
	)

convert raw packet to point cloud

Parameters:

	pkt	raw packet to unpack
	pc	shared pointer to point cloud (points are appended)

< hardware laser number

Position Calculation

Use standard ROS coordinate system (right-hand rule)

Intensity Calculation

Definition at line 89 of file rawdata.cc.

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Member Data Documentation

velodyne_pointcloud::Calibration velodyne_rawdata::RawData::calibration_ [private]

Calibration file

Definition at line 147 of file rawdata.h.

Config velodyne_rawdata::RawData::config_ [private]

Definition at line 142 of file rawdata.h.

float velodyne_rawdata::RawData::cos_rot_table_[ROTATION_MAX_UNITS] [private]

Definition at line 149 of file rawdata.h.

float velodyne_rawdata::RawData::sin_rot_table_[ROTATION_MAX_UNITS] [private]

Definition at line 148 of file rawdata.h.

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

• rawdata.h
• rawdata.cc