velodyne_driver::InputPCAP Class Reference

Velodyne input from PCAP dump file. More...

#include <input.h>

Inheritance diagram for velodyne_driver::InputPCAP:

List of all members.

Public Member Functions
virtual int	getPacket (velodyne_msgs::VelodynePacket *pkt)
	Get one velodyne packet.
	InputPCAP (ros::NodeHandle private_nh, double packet_rate, std::string filename="", bool read_once=false, bool read_fast=false, double repeat_delay=0.0)
	constructor
	~InputPCAP ()
Private Attributes
bool	empty_
char	errbuf_ [PCAP_ERRBUF_SIZE]
std::string	filename_
FILE *	fp_
ros::Rate	packet_rate_
pcap_t *	pcap_
bool	read_fast_
bool	read_once_
double	repeat_delay_

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Detailed Description

Velodyne input from PCAP dump file.

Dump files can be grabbed by libpcap, Velodyne's DSR software, ethereal, wireshark, tcpdump, or the Vdump Command.

Definition at line 83 of file input.h.

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Constructor & Destructor Documentation

velodyne_driver::InputPCAP::InputPCAP	(	ros::NodeHandle	private_nh,
		double	packet_rate,
		std::string	filename = "",
		bool	read_once = false,
		bool	read_fast = false,
		double	repeat_delay = 0.0
	)

constructor

Parameters:

private_nh	private node handle for driver
packet_rate	expected device packet frequency (Hz)
filename	PCAP dump file name
read_once	read PCAP in a loop, unless false
read_fast	read PCAP at device rate, unless false
repeat_delay	time to wait before repeating PCAP data

Definition at line 185 of file input.cc.

velodyne_driver::InputPCAP::~InputPCAP

(

void

)

destructor

Definition at line 223 of file input.cc.

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Member Function Documentation

int velodyne_driver::InputPCAP::getPacket

(

velodyne_msgs::VelodynePacket *

pkt

)

[virtual]

Get one velodyne packet.

Implements velodyne_driver::Input.

Definition at line 230 of file input.cc.

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Member Data Documentation

bool velodyne_driver::InputPCAP::empty_ [private]

Definition at line 102 of file input.h.

char velodyne_driver::InputPCAP::errbuf_[PCAP_ERRBUF_SIZE] [private]

Definition at line 101 of file input.h.

std::string velodyne_driver::InputPCAP::filename_ [private]

Definition at line 98 of file input.h.

FILE* velodyne_driver::InputPCAP::fp_ [private]

Definition at line 99 of file input.h.

ros::Rate velodyne_driver::InputPCAP::packet_rate_ [private]

Definition at line 106 of file input.h.

pcap_t* velodyne_driver::InputPCAP::pcap_ [private]

Definition at line 100 of file input.h.

bool velodyne_driver::InputPCAP::read_fast_ [private]

Definition at line 104 of file input.h.

bool velodyne_driver::InputPCAP::read_once_ [private]

Definition at line 103 of file input.h.

double velodyne_driver::InputPCAP::repeat_delay_ [private]

Definition at line 105 of file input.h.

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

• input.h
• input.cc