#include <scan_unifier_node.h>

Classes
struct	config_struct
	This structure holds configuration parameters. More...
struct	laser_scan_struct
	This structure holds the variables for one laser-scanner to be unified. More...
Public Member Functions
void	checkUnifieCondition ()
	check in every node-loop if the unifieConditions holds. A unified scan is only published if new laser messages from all scanners have been received
bool	get_new_msg_received (int scan_id)
	getter function for new_msg_received variable for checking wether a new msg has been received, triggering publishers accordingly
double	getLoopRate ()
	getter function for the loop rate
void	getParams ()
	function to load parameters from ros parameter server
void	initLaserScanStructs ()
	initialize a vector of laser scan structs (member variable vec_laser_struct_) with a given number (from parameter server, stored in config_ struct)
	scan_unifier_node ()
void	set_new_msg_received (bool received, int scan_id)
	setter function for new_msg_received variable
void	topicCallbackLaserScan (const sensor_msgs::LaserScan::ConstPtr &scan_in, int scan_id)
	callback function to subscribe to laser scan messages and store them in vec_laser_struct_
sensor_msgs::LaserScan	unifieLaserScans ()
	unifie the scan information from all laser scans in vec_laser_struct_
	~scan_unifier_node ()
Public Attributes
tf::TransformListener	listener_
ros::NodeHandle	nh_
ros::NodeHandle	pnh_
laser_geometry::LaserProjection	projector_
ros::Publisher	topicPub_LaserUnified_
Private Attributes
config_struct	config_
pthread_mutex_t	m_mutex
std::vector< laser_scan_struct >	vec_laser_struct_

Detailed Description

Definition at line 85 of file scan_unifier_node.h.

Constructor & Destructor Documentation

scan_unifier_node::scan_unifier_node ( )

Definition at line 62 of file scan_unifier_node.cpp.

scan_unifier_node::~scan_unifier_node ( )

Definition at line 84 of file scan_unifier_node.cpp.

Member Function Documentation

void scan_unifier_node::checkUnifieCondition ( )

check in every node-loop if the unifieConditions holds. A unified scan is only published if new laser messages from all scanners have been received

checkUnifieCondition input: - output: -

Definition at line 316 of file scan_unifier_node.cpp.

bool scan_unifier_node::get_new_msg_received ( int scan_id )

getter function for new_msg_received variable for checking wether a new msg has been received, triggering publishers accordingly

get_new_msg_received input: - output: -

Returns:: the new_msg_received variable

get_new_msg_received input:

Parameters:

scan	id to find right scan in struct output: -

Returns:: the new_msg_received variable

Definition at line 166 of file scan_unifier_node.cpp.

double scan_unifier_node::getLoopRate ( )

getter function for the loop rate

getLoopRate input: - output:

Returns:: the loop rate

Definition at line 136 of file scan_unifier_node.cpp.

void scan_unifier_node::getParams ( )

function to load parameters from ros parameter server

getParams input: - output: -

Definition at line 93 of file scan_unifier_node.cpp.

void scan_unifier_node::initLaserScanStructs ( )

initialize a vector of laser scan structs (member variable vec_laser_struct_) with a given number (from parameter server, stored in config_ struct)

initLaserScanStructs input: - output: -

Definition at line 182 of file scan_unifier_node.cpp.

void scan_unifier_node::set_new_msg_received	(	bool	received,
		int	scan_id
	)

setter function for new_msg_received variable

set_new_msg_received input:

Parameters:

message received information output: -

set_new_msg_received input:

Parameters:

message	received information
scan	id to find right scan in struct output: -

Definition at line 150 of file scan_unifier_node.cpp.

void scan_unifier_node::topicCallbackLaserScan	(	const sensor_msgs::LaserScan::ConstPtr &	scan_in,
		int	scan_id
	)

callback function to subscribe to laser scan messages and store them in vec_laser_struct_

topicCallbackLaserScan input:

Parameters:

	a laser scan msg pointer
	integer to trigger the storage in vec_laser_struct_ output: -

Definition at line 207 of file scan_unifier_node.cpp.

sensor_msgs::LaserScan scan_unifier_node::unifieLaserScans ( )

unifie the scan information from all laser scans in vec_laser_struct_

unifieLaserScans input: - output:

Parameters:

a laser scan message containing unified information from all scanners

Definition at line 230 of file scan_unifier_node.cpp.

Member Data Documentation

config_struct scan_unifier_node::config_ [private]

Definition at line 126 of file scan_unifier_node.h.

tf::TransformListener scan_unifier_node::listener_

Definition at line 148 of file scan_unifier_node.h.

pthread_mutex_t scan_unifier_node::m_mutex [private]

Definition at line 124 of file scan_unifier_node.h.

ros::NodeHandle scan_unifier_node::nh_

Definition at line 142 of file scan_unifier_node.h.

ros::NodeHandle scan_unifier_node::pnh_

Definition at line 142 of file scan_unifier_node.h.

laser_geometry::LaserProjection scan_unifier_node::projector_

Definition at line 151 of file scan_unifier_node.h.

ros::Publisher scan_unifier_node::topicPub_LaserUnified_

Definition at line 145 of file scan_unifier_node.h.

std::vector<laser_scan_struct> scan_unifier_node::vec_laser_struct_ [private]

Definition at line 128 of file scan_unifier_node.h.

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

Classes

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation