Implements the functionalities for a laser sensor. More...

#include <stdr_gui_laser.h>

Public Member Functions
void	callback (const sensor_msgs::LaserScan &msg)
	Callback for the ros laser message.
	CGuiLaser (stdr_msgs::LaserSensorMsg msg, std::string baseTopic)
	Default contructor.
std::string	getFrameId (void)
	Returns the frame id of the specific laser sensor.
float	getMaxRange (void)
	Returns the max range of the specific laser sensor.
char	getVisualizationStatus (void)
	Returns the visibility status of the specific laser sensor.
void	paint (QImage m, float ocgd, tf::TransformListener listener)
	Paints the laser scan in the map image.
void	setVisualizationStatus (char vs)
	Sets the visibility status of the specific laser sensor.
void	toggleVisualizationStatus (void)
	Toggles the visibility status of the specific laser sensor.
void	visualizerPaint (QImage *m, float ocgd, float maxRange)
	Paints the laser scan in it's own visualizer.
	~CGuiLaser (void)
	Default destructor.
Private Attributes
bool	lock_
	< Used to avoid drawing when a new laser message arives
stdr_msgs::LaserSensorMsg	msg_
	Subscriber for the ros laser msg.
sensor_msgs::LaserScan	scan_
	Visualization status of the specific laser.
ros::Subscriber	subscriber_
	The ros laser scan msg.
std::string	tf_frame_
	A laser sensor message : Depscription of a laser sensor.
std::string	topic_
	The ROS tf frame.
char	visualization_status_

Detailed Description

Implements the functionalities for a laser sensor.

Definition at line 39 of file stdr_gui_laser.h.

Constructor & Destructor Documentation

stdr_gui::CGuiLaser::CGuiLaser	(	stdr_msgs::LaserSensorMsg	msg,
		std::string	baseTopic
	)

Default contructor.

Parameters:

msg	[stdr_msgs::LaserSensorMsg] The laser description msg
baseTopic	[std::string] The ros topic for subscription

Returns:: void

Definition at line 32 of file stdr_gui_laser.cpp.

stdr_gui::CGuiLaser::~CGuiLaser ( void )

Default destructor.

Returns:: void

Definition at line 47 of file stdr_gui_laser.cpp.

Member Function Documentation

void stdr_gui::CGuiLaser::callback ( const sensor_msgs::LaserScan & msg )

Callback for the ros laser message.

Parameters:

msg	[const sensor_msgs::LaserScan&] The new laser scan message

Returns:: void

Definition at line 74 of file stdr_gui_laser.cpp.

std::string stdr_gui::CGuiLaser::getFrameId ( void )

Returns the frame id of the specific laser sensor.

Returns:: std::string : The laser frame id

Definition at line 221 of file stdr_gui_laser.cpp.

float stdr_gui::CGuiLaser::getMaxRange ( void )

Returns the max range of the specific laser sensor.

Returns:: void

Definition at line 212 of file stdr_gui_laser.cpp.

char stdr_gui::CGuiLaser::getVisualizationStatus ( void )

Returns the visibility status of the specific laser sensor.

Returns:: void

Definition at line 55 of file stdr_gui_laser.cpp.

void stdr_gui::CGuiLaser::paint	(	QImage *	m,
		float	ocgd,
		tf::TransformListener *	listener
	)

Paints the laser scan in the map image.

Parameters:

m	[QImage*] The image to be drawn
ocgd	[float] The map's resolution
listener	[tf::TransformListener *] ROS tf transform listener

Returns:: void

< Find transformation

< Draw laser stuff

Definition at line 90 of file stdr_gui_laser.cpp.

void stdr_gui::CGuiLaser::setVisualizationStatus ( char vs )

Sets the visibility status of the specific laser sensor.

Parameters:

vs	[char] The new visibility status

Returns:: void

Definition at line 231 of file stdr_gui_laser.cpp.

void stdr_gui::CGuiLaser::toggleVisualizationStatus ( void )

Toggles the visibility status of the specific laser sensor.

Returns:: void

Definition at line 64 of file stdr_gui_laser.cpp.

void stdr_gui::CGuiLaser::visualizerPaint	(	QImage *	m,
		float	ocgd,
		float	maxRange
	)

Paints the laser scan in it's own visualizer.

Parameters:

m	[QImage*] The image to be drawn
ocgd	[float] The map's resolution
maxRange	[float] The maximum range of all the robot sensors. Used for the visualizer proportions