This is a class for jsk_pcl/SphericalPointCloudSimulator nodelet. More...

#include <spherical_pointcloud_simulator.h>

Inheritance diagram for jsk_pcl_ros::SphericalPointCloudSimulator:

Public Types
typedef SphericalPointCloudSimulatorConfig	Config
Public Member Functions
	SphericalPointCloudSimulator ()
Protected Member Functions
virtual void	configCallback (Config &config, uint32_t level)
	dynamic_reconfigure callback
virtual void	generate (const sensor_msgs::PointCloud2::ConstPtr &msg)
	Callback function for ~input topic.
virtual Eigen::Affine3f	getPlane (double phi)
	Transformation for scan plane specified by phi angle.
virtual pcl::PointXYZ	getPoint (double r, double theta, const Eigen::Affine3f &trans)
	compute a point according to a parametric model of spherical tilting laser.
virtual void	onInit ()
	Initialization function.
virtual void	subscribe ()
	Subscribe another pointcloud to synchronize timestamp.
virtual void	timerCallback (const ros::TimerEvent &event)
	Timer callback for fixed rate publishing.
virtual void	unsubscribe ()
	Shutdown subscribers.
Protected Attributes
double	fps_
std::string	frame_id_
	frame_id of output pointcloud. If it is empty string, frame_id of ~input is copied.
double	max_phi_
double	min_phi_
boost::mutex	mutex_
ros::Publisher	pub_
double	r_
double	rotate_velocity_
int	scan_num_
double	scan_range_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
ros::Subscriber	sub_
ros::Timer	timer_

Detailed Description

This is a class for jsk_pcl/SphericalPointCloudSimulator nodelet.

Definition at line 51 of file spherical_pointcloud_simulator.h.

Member Typedef Documentation

typedef SphericalPointCloudSimulatorConfig jsk_pcl_ros::SphericalPointCloudSimulator::Config

Definition at line 54 of file spherical_pointcloud_simulator.h.

Constructor & Destructor Documentation

jsk_pcl_ros::SphericalPointCloudSimulator::SphericalPointCloudSimulator ( ) [inline]

Definition at line 55 of file spherical_pointcloud_simulator.h.

Member Function Documentation

void jsk_pcl_ros::SphericalPointCloudSimulator::configCallback	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic_reconfigure callback

Definition at line 73 of file spherical_pointcloud_simulator_nodelet.cpp.

void jsk_pcl_ros::SphericalPointCloudSimulator::generate ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [protected, virtual]

Callback function for ~input topic.

Pointcloud message is used only for timestamp and frame_id.

Definition at line 95 of file spherical_pointcloud_simulator_nodelet.cpp.

Eigen::Affine3f jsk_pcl_ros::SphericalPointCloudSimulator::getPlane ( double phi ) [protected, virtual]

Transformation for scan plane specified by phi angle.

Definition at line 128 of file spherical_pointcloud_simulator_nodelet.cpp.

pcl::PointXYZ jsk_pcl_ros::SphericalPointCloudSimulator::getPoint	(	double	r,
		double	theta,
		const Eigen::Affine3f &	trans
	)		`[protected, virtual]`

compute a point according to a parametric model of spherical tilting laser.

The normal of scan plane is defined as [0, sin(phi), cos(phi)]. Each point of scan is represented as follows respected to the plane: p = [r*cos(theta), r*sin(theta), 0]

Definition at line 138 of file spherical_pointcloud_simulator_nodelet.cpp.

void jsk_pcl_ros::SphericalPointCloudSimulator::onInit ( void ) [protected, virtual]

Initialization function.

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 40 of file spherical_pointcloud_simulator_nodelet.cpp.

void jsk_pcl_ros::SphericalPointCloudSimulator::subscribe ( ) [protected, virtual]

Subscribe another pointcloud to synchronize timestamp.

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 62 of file spherical_pointcloud_simulator_nodelet.cpp.

void jsk_pcl_ros::SphericalPointCloudSimulator::timerCallback ( const ros::TimerEvent & event ) [protected, virtual]

Timer callback for fixed rate publishing.

Definition at line 85 of file spherical_pointcloud_simulator_nodelet.cpp.