laser_assembler::LaserScanAssemblerSrv Class Reference

Maintains a history of laser scans and generates a point cloud upon request. More...

Inheritance diagram for laser_assembler::LaserScanAssemblerSrv:

List of all members.

Public Member Functions
void	ConvertToCloud (const string &fixed_frame_id, const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud &cloud_out)
unsigned int	GetPointsInScan (const sensor_msgs::LaserScan &scan)
	Returns the number of points in the current scan.
	LaserScanAssemblerSrv ()
	~LaserScanAssemblerSrv ()
Private Attributes
filters::FilterChain < sensor_msgs::LaserScan >	filter_chain_
bool	ignore_laser_skew_
laser_geometry::LaserProjection	projector_
sensor_msgs::LaserScan	scan_filtered_

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Detailed Description

Maintains a history of laser scans and generates a point cloud upon request.

ROS Parameters

• (Several params are inherited from laser_assembler::BaseAssemblerSrv)
• "~ignore_laser_skew" (bool) - Specifies the method to project laser data
  • true -> Account for laser skew, and compute the transform for each laser point (This is currently really slow!)
  • false-> Don't account for laser skew, and use 1 transform per scanline. (This might have a little error when moving fast)

ROS Service Calls

• "~build_cloud" - Inhertited from laser_assembler::BaseAssemblerSrv

Definition at line 57 of file laser_scan_assembler_srv.cpp.

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Constructor & Destructor Documentation

laser_assembler::LaserScanAssemblerSrv::LaserScanAssemblerSrv

(

)

[inline]

Definition at line 60 of file laser_scan_assembler_srv.cpp.

laser_assembler::LaserScanAssemblerSrv::~LaserScanAssemblerSrv

(

)

[inline]

Definition at line 69 of file laser_scan_assembler_srv.cpp.

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Member Function Documentation

void laser_assembler::LaserScanAssemblerSrv::ConvertToCloud	(	const string &	fixed_frame_id,
		const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::PointCloud &	cloud_out
	)		[inline]

Definition at line 79 of file laser_scan_assembler_srv.cpp.

unsigned int laser_assembler::LaserScanAssemblerSrv::GetPointsInScan

(

const sensor_msgs::LaserScan &

scan

)

[inline, 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

Implements laser_assembler::BaseAssemblerSrv< sensor_msgs::LaserScan >.

Definition at line 74 of file laser_scan_assembler_srv.cpp.

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Member Data Documentation

filters::FilterChain<sensor_msgs::LaserScan> laser_assembler::LaserScanAssemblerSrv::filter_chain_ [private]

Definition at line 103 of file laser_scan_assembler_srv.cpp.

bool laser_assembler::LaserScanAssemblerSrv::ignore_laser_skew_ [private]

Definition at line 100 of file laser_scan_assembler_srv.cpp.

laser_geometry::LaserProjection laser_assembler::LaserScanAssemblerSrv::projector_ [private]

Definition at line 101 of file laser_scan_assembler_srv.cpp.

sensor_msgs::LaserScan laser_assembler::LaserScanAssemblerSrv::scan_filtered_ [mutable, private]

Definition at line 104 of file laser_scan_assembler_srv.cpp.

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

• laser_scan_assembler_srv.cpp