dense_laser_assembler.h
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00034 
00036 
00037 #ifndef DENSE_LASER_ASSEMBLER_DENSE_LASER_ASSEMBLER_H_
00038 #define DENSE_LASER_ASSEMBLER_DENSE_LASER_ASSEMBLER_H_
00039 
00040 #include <settlerlib/sorted_deque.h>
00041 
00042 // Messages
00043 #include <sensor_msgs/LaserScan.h>
00044 #include <calibration_msgs/DenseLaserSnapshot.h>
00045 
00046 namespace dense_laser_assembler
00047 {
00048 
00049 class DenseLaserAssembler
00050 {
00051 public:
00052   DenseLaserAssembler(const unsigned int cache_size = 100);
00053 
00054   void setCacheSize(const unsigned int cache_size);
00055 
00056   void add(const sensor_msgs::LaserScanConstPtr& laser_scan);
00057 
00065   bool assembleSnapshot(const ros::Time& start, const ros::Time& end, calibration_msgs::DenseLaserSnapshot& snapshot);
00066 
00067 private:
00068 
00070   settlerlib::SortedDeque<sensor_msgs::LaserScanConstPtr> cache_;
00071 
00072 
00079   bool flattenScanVec(const std::vector< sensor_msgs::LaserScanConstPtr >& scans,
00080                       calibration_msgs::DenseLaserSnapshot& snapshot);
00081 
00090   bool verifyMetadata(const calibration_msgs::DenseLaserSnapshot& snapshot, const sensor_msgs::LaserScan& scan);
00091 
00092 };
00093 
00094 }
00095 
00096 #endif
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dense_laser_assembler
Author(s): Vijay Pradeep
autogenerated on Mon Aug 19 2013 10:50:20