scan_tools::LaserOrthoProjector Class Reference

#include <laser_ortho_projector.h>

List of all members.

Public Member Functions
	LaserOrthoProjector (ros::NodeHandle nh, ros::NodeHandle nh_private)
virtual	~LaserOrthoProjector ()
Private Types
typedef sensor_msgs::Imu	ImuMsg
typedef pcl::PointCloud< PointT >	PointCloudT
typedef pcl::PointXYZ	PointT
typedef geometry_msgs::PoseStamped	PoseMsg
Private Member Functions
void	createCache (const sensor_msgs::LaserScan::ConstPtr &scan_msg)
bool	getBaseToLaserTf (const sensor_msgs::LaserScan::ConstPtr &scan_msg)
void	getOrthoTf (const tf::Transform &world_to_base, tf::Transform &world_to_ortho)
void	imuCallback (const ImuMsg::ConstPtr &imu_msg)
void	poseCallback (const PoseMsg::ConstPtr &pose_msg)
void	scanCallback (const sensor_msgs::LaserScan::ConstPtr &scan_msg)
Private Attributes
std::vector< double >	a_cos_
std::vector< double >	a_sin_
std::string	base_frame_
tf::Transform	base_to_laser_
ros::Publisher	cloud_publisher_
ros::Subscriber	imu_subscriber_
bool	initialized_
PointT	nan_point_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
std::string	ortho_frame_
tf::Transform	ortho_to_laser_
ros::Subscriber	pose_subscriber_
bool	publish_tf_
ros::Subscriber	scan_subscriber_
tf::TransformBroadcaster	tf_broadcaster_
tf::TransformListener	tf_listener_
bool	use_imu_
bool	use_pose_
std::string	world_frame_

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Detailed Description

Definition at line 51 of file laser_ortho_projector.h.

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Member Typedef Documentation

typedef sensor_msgs::Imu scan_tools::LaserOrthoProjector::ImuMsg [private]

Definition at line 57 of file laser_ortho_projector.h.

typedef pcl::PointCloud<PointT> scan_tools::LaserOrthoProjector::PointCloudT [private]

Definition at line 54 of file laser_ortho_projector.h.

typedef pcl::PointXYZ scan_tools::LaserOrthoProjector::PointT [private]

Definition at line 53 of file laser_ortho_projector.h.

typedef geometry_msgs::PoseStamped scan_tools::LaserOrthoProjector::PoseMsg [private]

Definition at line 56 of file laser_ortho_projector.h.

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Constructor & Destructor Documentation

scan_tools::LaserOrthoProjector::LaserOrthoProjector	(	ros::NodeHandle	nh,
		ros::NodeHandle	nh_private
	)

Definition at line 34 of file laser_ortho_projector.cpp.

scan_tools::LaserOrthoProjector::~LaserOrthoProjector

(

)

[virtual]

Definition at line 93 of file laser_ortho_projector.cpp.

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Member Function Documentation

void scan_tools::LaserOrthoProjector::createCache

(

const sensor_msgs::LaserScan::ConstPtr &

scan_msg

)

[private]

Definition at line 241 of file laser_ortho_projector.cpp.

bool scan_tools::LaserOrthoProjector::getBaseToLaserTf

(

const sensor_msgs::LaserScan::ConstPtr &

scan_msg

)

[private]

Definition at line 221 of file laser_ortho_projector.cpp.

void scan_tools::LaserOrthoProjector::getOrthoTf	(	const tf::Transform &	world_to_base,
		tf::Transform &	world_to_ortho
	)		[private]

Definition at line 144 of file laser_ortho_projector.cpp.

void scan_tools::LaserOrthoProjector::imuCallback

(

const ImuMsg::ConstPtr &

imu_msg

)

[private]

Definition at line 98 of file laser_ortho_projector.cpp.

void scan_tools::LaserOrthoProjector::poseCallback

(

const PoseMsg::ConstPtr &

pose_msg

)

[private]

Definition at line 123 of file laser_ortho_projector.cpp.

void scan_tools::LaserOrthoProjector::scanCallback

(

const sensor_msgs::LaserScan::ConstPtr &

scan_msg

)

[private]

Definition at line 156 of file laser_ortho_projector.cpp.

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Member Data Documentation

std::vector<double> scan_tools::LaserOrthoProjector::a_cos_ [private]

Definition at line 95 of file laser_ortho_projector.h.

std::vector<double> scan_tools::LaserOrthoProjector::a_sin_ [private]

Definition at line 94 of file laser_ortho_projector.h.

std::string scan_tools::LaserOrthoProjector::base_frame_ [private]

Definition at line 83 of file laser_ortho_projector.h.

tf::Transform scan_tools::LaserOrthoProjector::base_to_laser_ [private]

Definition at line 99 of file laser_ortho_projector.h.

ros::Publisher scan_tools::LaserOrthoProjector::cloud_publisher_ [private]

Definition at line 71 of file laser_ortho_projector.h.

ros::Subscriber scan_tools::LaserOrthoProjector::imu_subscriber_ [private]

Definition at line 74 of file laser_ortho_projector.h.

bool scan_tools::LaserOrthoProjector::initialized_ [private]

Definition at line 92 of file laser_ortho_projector.h.

PointT scan_tools::LaserOrthoProjector::nan_point_ [private]

Definition at line 97 of file laser_ortho_projector.h.

ros::NodeHandle scan_tools::LaserOrthoProjector::nh_ [private]

Definition at line 68 of file laser_ortho_projector.h.

ros::NodeHandle scan_tools::LaserOrthoProjector::nh_private_ [private]

Definition at line 69 of file laser_ortho_projector.h.

std::string scan_tools::LaserOrthoProjector::ortho_frame_ [private]

Definition at line 84 of file laser_ortho_projector.h.

tf::Transform scan_tools::LaserOrthoProjector::ortho_to_laser_ [private]

Definition at line 100 of file laser_ortho_projector.h.

ros::Subscriber scan_tools::LaserOrthoProjector::pose_subscriber_ [private]

Definition at line 75 of file laser_ortho_projector.h.

bool scan_tools::LaserOrthoProjector::publish_tf_ [private]

Definition at line 86 of file laser_ortho_projector.h.

ros::Subscriber scan_tools::LaserOrthoProjector::scan_subscriber_ [private]

Definition at line 73 of file laser_ortho_projector.h.

tf::TransformBroadcaster scan_tools::LaserOrthoProjector::tf_broadcaster_ [private]

Definition at line 78 of file laser_ortho_projector.h.

tf::TransformListener scan_tools::LaserOrthoProjector::tf_listener_ [private]

Definition at line 77 of file laser_ortho_projector.h.

bool scan_tools::LaserOrthoProjector::use_imu_ [private]

Definition at line 88 of file laser_ortho_projector.h.

bool scan_tools::LaserOrthoProjector::use_pose_ [private]

Definition at line 87 of file laser_ortho_projector.h.

std::string scan_tools::LaserOrthoProjector::world_frame_ [private]

Definition at line 82 of file laser_ortho_projector.h.

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

• laser_ortho_projector.h
• laser_ortho_projector.cpp