bta_ros::BtaRos Class Reference

#include <bta_ros.hpp>

List of all members.

Public Member Functions
	BtaRos (ros::NodeHandle nh_camera, ros::NodeHandle nh_private, std::string nodeName)
	Class constructor.
void	close ()
	Closes the connection to the device.
int	connectCamera ()
	Helper for connect to the device.
int	initialize ()
	Initializes the device and parameters.
void	publishData ()
	Publish the data based on set up parameters.
virtual	~BtaRos ()
	Class destructor.
Static Public Member Functions
static void BTA_CALLCONV	infoEventCb (BTA_EventId eventId, int8_t *msg)
Private Types
typedef bta_ros::bta_rosConfig	Config
typedef dynamic_reconfigure::Server < Config >	ReconfigureServer
Private Member Functions
void	callback (bta_ros::bta_rosConfig &config, uint32_t level)
	Callback for rqt_reconfigure. It is called any time we change a parameter in the visual interface.
size_t	getDataSize (BTA_DataFormat dataFormat)
	Returns the size of the data based in BTA_DataFormat.
std::string	getDataType (BTA_DataFormat dataFormat)
	Returns the data encoding flat based in BTA_DataFormat.
float	getUnit2Meters (BTA_Unit unit)
	Gives the conversion value to meters from the BTA_Unit.
void	parseConfig ()
	Reads configuration from the server parameters.
Private Attributes
sensor_msgs::PointCloud2Ptr	_xyz
std::string	calibFileName_
camera_info_manager::CameraInfoManager	cim_tof_
BTA_Config	config_
bool	config_init_
boost::mutex	connect_mutex_
BTA_Handle	handle_
image_transport::ImageTransport	it_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
std::string	nodeName_
image_transport::CameraPublisher	pub_amp_
image_transport::CameraPublisher	pub_dis_
tf2_ros::StaticTransformBroadcaster	pub_tf
ros::Publisher	pub_xyz_
boost::shared_ptr < ReconfigureServer >	reconfigure_server_
uint8_t	tcpDeviceIpAddr_ [6]
geometry_msgs::TransformStamped	transformStamped
std::string	uartPortName_
uint8_t	udpControlInIpAddr_ [6]
uint8_t	udpControlOutIpAddr_ [6]
uint8_t	udpDataIpAddr_ [6]

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Detailed Description

Definition at line 82 of file bta_ros.hpp.

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Member Typedef Documentation

typedef bta_ros::bta_rosConfig bta_ros::BtaRos::Config [private]

Definition at line 85 of file bta_ros.hpp.

typedef dynamic_reconfigure::Server<Config> bta_ros::BtaRos::ReconfigureServer [private]

Definition at line 86 of file bta_ros.hpp.

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Constructor & Destructor Documentation

bta_ros::BtaRos::BtaRos	(	ros::NodeHandle	nh_camera,
		ros::NodeHandle	nh_private,
		std::string	nodeName
	)

Class constructor.

param [in] ros::NodeHandle param [in] ros::NodeHandle param [in] std::string

Definition at line 48 of file bta_ros.cpp.

bta_ros::BtaRos::~BtaRos

(

)

[virtual]

Class destructor.

Definition at line 81 of file bta_ros.cpp.

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Member Function Documentation

void bta_ros::BtaRos::callback	(	bta_ros::bta_rosConfig &	config,
		uint32_t	level
	)		[private]

Callback for rqt_reconfigure. It is called any time we change a parameter in the visual interface.

Parameters:

[in]	bta_ros::bta_rosConfig
[in]	uint32_t

Definition at line 101 of file bta_ros.cpp.

void bta_ros::BtaRos::close

(

)

Closes the connection to the device.

Definition at line 87 of file bta_ros.cpp.

int bta_ros::BtaRos::connectCamera

(

)

Helper for connect to the device.

Definition at line 571 of file bta_ros.cpp.

size_t bta_ros::BtaRos::getDataSize

(

BTA_DataFormat

dataFormat

)

[private]

Returns the size of the data based in BTA_DataFormat.

Definition at line 204 of file bta_ros.cpp.

std::string bta_ros::BtaRos::getDataType

(

BTA_DataFormat

dataFormat

)

[private]

Returns the data encoding flat based in BTA_DataFormat.

Definition at line 218 of file bta_ros.cpp.

float bta_ros::BtaRos::getUnit2Meters

(

BTA_Unit

unit

)

[private]

Gives the conversion value to meters from the BTA_Unit.

Parameters:

unit

Returns:

the value to multiply to the data.

Definition at line 232 of file bta_ros.cpp.

static void BTA_CALLCONV bta_ros::BtaRos::infoEventCb	(	BTA_EventId	eventId,
		int8_t *	msg
	)		[inline, static]

Definition at line 141 of file bta_ros.hpp.

int bta_ros::BtaRos::initialize

(

)

Initializes the device and parameters.

Definition at line 616 of file bta_ros.cpp.

void bta_ros::BtaRos::parseConfig

(

)

[private]

Reads configuration from the server parameters.

Definition at line 434 of file bta_ros.cpp.

void bta_ros::BtaRos::publishData

(

)

Publish the data based on set up parameters.

Definition at line 247 of file bta_ros.cpp.

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Member Data Documentation

sensor_msgs::PointCloud2Ptr bta_ros::BtaRos::_xyz [private]

Definition at line 165 of file bta_ros.hpp.

std::string bta_ros::BtaRos::calibFileName_ [private]

Definition at line 163 of file bta_ros.hpp.

camera_info_manager::CameraInfoManager bta_ros::BtaRos::cim_tof_ [private]

Definition at line 148 of file bta_ros.hpp.

BTA_Config bta_ros::BtaRos::config_ [private]

Definition at line 168 of file bta_ros.hpp.

bool bta_ros::BtaRos::config_init_ [private]

Definition at line 156 of file bta_ros.hpp.

boost::mutex bta_ros::BtaRos::connect_mutex_ [private]

Definition at line 158 of file bta_ros.hpp.

BTA_Handle bta_ros::BtaRos::handle_ [private]

Definition at line 167 of file bta_ros.hpp.

image_transport::ImageTransport bta_ros::BtaRos::it_ [private]

Definition at line 149 of file bta_ros.hpp.

ros::NodeHandle bta_ros::BtaRos::nh_ [private]

Definition at line 146 of file bta_ros.hpp.

ros::NodeHandle bta_ros::BtaRos::nh_private_ [private]

Definition at line 146 of file bta_ros.hpp.

std::string bta_ros::BtaRos::nodeName_ [private]

Definition at line 147 of file bta_ros.hpp.

image_transport::CameraPublisher bta_ros::BtaRos::pub_amp_ [private]

Definition at line 150 of file bta_ros.hpp.

image_transport::CameraPublisher bta_ros::BtaRos::pub_dis_ [private]

Definition at line 150 of file bta_ros.hpp.

tf2_ros::StaticTransformBroadcaster bta_ros::BtaRos::pub_tf [private]

Definition at line 151 of file bta_ros.hpp.

ros::Publisher bta_ros::BtaRos::pub_xyz_ [private]

Definition at line 153 of file bta_ros.hpp.

boost::shared_ptr<ReconfigureServer> bta_ros::BtaRos::reconfigure_server_ [private]

Definition at line 155 of file bta_ros.hpp.

uint8_t bta_ros::BtaRos::tcpDeviceIpAddr_[6] [private]

Definition at line 161 of file bta_ros.hpp.

geometry_msgs::TransformStamped bta_ros::BtaRos::transformStamped [private]

Definition at line 152 of file bta_ros.hpp.

std::string bta_ros::BtaRos::uartPortName_ [private]

Definition at line 163 of file bta_ros.hpp.

uint8_t bta_ros::BtaRos::udpControlInIpAddr_[6] [private]

Definition at line 161 of file bta_ros.hpp.

uint8_t bta_ros::BtaRos::udpControlOutIpAddr_[6] [private]

Definition at line 161 of file bta_ros.hpp.

uint8_t bta_ros::BtaRos::udpDataIpAddr_[6] [private]

Definition at line 161 of file bta_ros.hpp.

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

• bta_ros.hpp
• bta_ros.cpp