spherical_pointcloud_simulator.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_UTILS_SPHERICAL_POINTCLOUD_SIMULATOR_H_
00038 #define JSK_PCL_ROS_UTILS_SPHERICAL_POINTCLOUD_SIMULATOR_H_
00039 
00040 #include <jsk_topic_tools/diagnostic_nodelet.h>
00041 #include <jsk_pcl_ros_utils/SphericalPointCloudSimulatorConfig.h>
00042 #include <pcl_conversions/pcl_conversions.h>
00043 #include <dynamic_reconfigure/server.h>
00044 
00045 namespace jsk_pcl_ros_utils
00046 {
00051   class SphericalPointCloudSimulator: public jsk_topic_tools::DiagnosticNodelet
00052   {
00053   public:
00054     typedef SphericalPointCloudSimulatorConfig Config;
00055     SphericalPointCloudSimulator():
00056       DiagnosticNodelet("SphericalPointCloudSimulator") {}
00057   protected:
00061     virtual void onInit();
00062 
00066     virtual void subscribe();
00067 
00071     virtual void unsubscribe();
00072 
00076     virtual void configCallback(Config &config, uint32_t level);
00077     
00083     virtual void generate(
00084       const sensor_msgs::PointCloud2::ConstPtr& msg);
00085 
00089     virtual void timerCallback(
00090       const ros::TimerEvent& event);
00091     
00100     virtual pcl::PointXYZ getPoint(
00101       double r, double theta, const Eigen::Affine3f& trans);
00102 
00106     virtual Eigen::Affine3f getPlane(double phi);
00107     
00108     boost::mutex mutex_;
00109     ros::Subscriber sub_;
00110     ros::Publisher pub_;
00111     boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;
00112     
00117     std::string frame_id_;
00118     double rotate_velocity_;
00119 
00120     ros::Timer timer_;
00121     // model parameters
00122     double r_;
00123     double min_phi_;
00124     double max_phi_;
00125     double scan_range_;
00126     double fps_;
00127     int scan_num_;
00128     
00129   private:
00130     
00131   };
00132 }
00133 
00134 #endif


jsk_pcl_ros_utils
Author(s): Yohei Kakiuchi
autogenerated on Tue Jul 2 2019 19:40:52