driver.h
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00001 /* -*- mode: C++ -*- */
00002 /*
00003  *  Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
00004  * 
00005  *  License: Modified BSD Software License Agreement
00006  *
00007  *  $Id$
00008  */
00009 
00015 #ifndef _VELODYNE_DRIVER_H_
00016 #define _VELODYNE_DRIVER_H_ 1
00017 
00018 #include <string>
00019 #include <ros/ros.h>
00020 #include <diagnostic_updater/diagnostic_updater.h>
00021 #include <diagnostic_updater/publisher.h>
00022 
00023 #include <velodyne_driver/input.h>
00024 
00025 namespace velodyne_driver
00026 {
00027 
00028 class VelodyneDriver
00029 {
00030 public:
00031 
00032   VelodyneDriver(ros::NodeHandle node,
00033                  ros::NodeHandle private_nh);
00034   ~VelodyneDriver() {}
00035 
00036   bool poll(void);
00037 
00038 private:
00039 
00040   // configuration parameters
00041   struct
00042   {
00043     std::string frame_id;            
00044     std::string model;               
00045     int    npackets;                 
00046     double rpm;                      
00047   } config_;
00048 
00049   boost::shared_ptr<Input> input_;
00050   ros::Publisher output_;
00051 
00053   diagnostic_updater::Updater diagnostics_;
00054   double diag_min_freq_;
00055   double diag_max_freq_;
00056   boost::shared_ptr<diagnostic_updater::TopicDiagnostic> diag_topic_;
00057 };
00058 
00059 } // namespace velodyne_driver
00060 
00061 #endif // _VELODYNE_DRIVER_H_


velodyne_driver
Author(s): Jack O'Quin, Patrick Beeson, Michael Quinlan, Yaxin Liu
autogenerated on Fri Jan 3 2014 12:11:08