Maintains a history of point clouds and generates an aggregate point cloud upon request. More...

#include <base_assembler.h>

Public Member Functions
	BaseAssembler (const std::string &max_size_param_name)
virtual void	ConvertToCloud (const std::string &fixed_frame_id, const T &scan_in, sensor_msgs::PointCloud &cloud_out)=0
	Converts the current scan into a cloud in the specified fixed frame.
virtual unsigned int	GetPointsInScan (const T &scan)=0
	Returns the number of points in the current scan.
void	start (const std::string &in_topic_name)
	Tells the assembler to start listening to input data It is possible that a derived class needs to initialize and configure various things before actually beginning to process scans. Calling start create subcribes to the input stream, thus allowing the scanCallback and ConvertToCloud to be called. Start should be called only once.
void	start ()
	~BaseAssembler ()
Protected Attributes
ros::NodeHandle	n_
ros::NodeHandle	private_ns_
tf::TransformListener *	tf_
tf::MessageFilter< T > *	tf_filter_
Private Member Functions
bool	assembleScans (AssembleScans::Request &req, AssembleScans::Response &resp)
bool	buildCloud (AssembleScans::Request &req, AssembleScans::Response &resp)
	Service Callback function called whenever we need to build a cloud.
virtual void	msgCallback (const boost::shared_ptr< const T > &scan_ptr)
	Callback function for every time we receive a new scan.
Private Attributes
ros::ServiceServer	assemble_scans_server_
ros::ServiceServer	build_cloud_server_
unsigned int	downsample_factor_
	Specify how much to downsample the data. A value of 1 preserves all the data. 3 would keep 1/3 of the data.
std::string	fixed_frame_
	The frame to transform data into upon receipt.
unsigned int	max_scans_
	The max number of scans to store in the scan history.
std::deque < sensor_msgs::PointCloud >	scan_hist_
	Stores history of scans.
boost::mutex	scan_hist_mutex_
message_filters::Subscriber< T >	scan_sub_
message_filters::Connection	tf_filter_connection_
unsigned int	total_pts_
	The number points currently in the scan history.

Detailed Description

template<class T>
class laser_assembler::BaseAssembler< T >

Maintains a history of point clouds and generates an aggregate point cloud upon request.

Definition at line 58 of file base_assembler.h.

Constructor & Destructor Documentation

template<class T >

laser_assembler::BaseAssembler< T >::BaseAssembler ( const std::string & max_size_param_name )

Definition at line 133 of file base_assembler.h.

template<class T >

laser_assembler::BaseAssembler< T >::~BaseAssembler ( )

Definition at line 214 of file base_assembler.h.

Member Function Documentation

template<class T >

bool laser_assembler::BaseAssembler< T >::assembleScans	(	AssembleScans::Request &	req,
		AssembleScans::Response &	resp
	)		`[private]`

Definition at line 266 of file base_assembler.h.

template<class T >

bool laser_assembler::BaseAssembler< T >::buildCloud	(	AssembleScans::Request &	req,
		AssembleScans::Response &	resp
	)		`[private]`

Service Callback function called whenever we need to build a cloud.

Definition at line 258 of file base_assembler.h.

template<class T>

virtual void laser_assembler::BaseAssembler< T >::ConvertToCloud	(	const std::string &	fixed_frame_id,
		const T &	scan_in,
		sensor_msgs::PointCloud &	cloud_out
	)		`[pure virtual]`

Converts the current scan into a cloud in the specified fixed frame.

Note: Once implemented, ConvertToCloud should NOT catch TF exceptions. These exceptions are caught by BaseAssembler, and will be counted for diagnostic information

Parameters:

fixed_frame_id	The name of the frame in which we want cloud_out to be in
scan_in	The scan that we want to convert
cloud_out	The result of transforming scan_in into a cloud in frame fixed_frame_id

template<class T>

virtual unsigned int laser_assembler::BaseAssembler< T >::GetPointsInScan ( const T & scan ) [pure virtual]

Returns the number of points in the current scan.

Parameters:

scan	The scan for for which we want to know the number of points

Returns:: the number of points in scan

Implemented in laser_assembler::LaserScanAssembler, and laser_assembler::PointCloudAssembler.

template<class T>

void laser_assembler::BaseAssembler< T >::msgCallback ( const boost::shared_ptr< const T > & scan_ptr ) [private, virtual]

Callback function for every time we receive a new scan.

Definition at line 223 of file base_assembler.h.

template<class T >

void laser_assembler::BaseAssembler< T >::start ( const std::string & in_topic_name )

Tells the assembler to start listening to input data It is possible that a derived class needs to initialize and configure various things before actually beginning to process scans. Calling start create subcribes to the input stream, thus allowing the scanCallback and ConvertToCloud to be called. Start should be called only once.

Definition at line 186 of file base_assembler.h.

template<class T >

void laser_assembler::BaseAssembler< T >::start ( )

Definition at line 200 of file base_assembler.h.