point_cloud_assembler.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2008, Willow Garage, Inc.
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 
00036 #include "laser_assembler/base_assembler.h"
00037 
00038 
00039 using namespace std ;
00040 
00041 namespace laser_assembler
00042 {
00043 
00050 class PointCloudAssembler : public BaseAssembler<sensor_msgs::PointCloud>
00051 {
00052 public:
00053   PointCloudAssembler() : BaseAssembler<sensor_msgs::PointCloud>("max_clouds")
00054   {
00055 
00056   }
00057 
00058   ~PointCloudAssembler()
00059   {
00060 
00061   }
00062 
00063   unsigned int GetPointsInScan(const sensor_msgs::PointCloud& scan)
00064   {
00065     return (scan.points.size ());
00066   }
00067 
00068   void ConvertToCloud(const string& fixed_frame_id, const sensor_msgs::PointCloud& scan_in, sensor_msgs::PointCloud& cloud_out)
00069   {
00070     tf_->transformPointCloud(fixed_frame_id, scan_in, cloud_out) ;
00071     return ;
00072   }
00073 
00074 private:
00075 
00076 };
00077 
00078 }
00079 
00080 using namespace laser_assembler ;
00081 
00082 int main(int argc, char **argv)
00083 {
00084   ros::init(argc, argv, "point_cloud_assembler");
00085   PointCloudAssembler pc_assembler;
00086   pc_assembler.start("cloud");
00087   ros::spin();
00088 
00089   return 0;
00090 }


laser_assembler
Author(s): Vijay Pradeep
autogenerated on Thu Jun 27 2019 20:02:19