ScanUnifierNode Class Reference

#include <scan_unifier_node.h>

Classes
struct	config_struct
	This structure holds configuration parameters. More...

Public Member Functions
void	getParams ()
	function to load parameters from ros parameter server More...
	ScanUnifierNode ()
bool	unifyLaserScans (const std::vector< sensor_msgs::LaserScan::ConstPtr > &current_scans, sensor_msgs::LaserScan &unified_scan)
	unifie the scan information from all laser scans in vec_laser_struct_ More...
	~ScanUnifierNode ()

Public Attributes
tf::TransformListener	listener_
ros::NodeHandle	nh_
ros::NodeHandle	pnh_
laser_geometry::LaserProjection	projector_
ros::Publisher	topicPub_LaserUnified_
std::vector< sensor_msgs::PointCloud >	vec_cloud_

Private Member Functions
void	messageFilterCallback (const sensor_msgs::LaserScan::ConstPtr &first_scanner, const sensor_msgs::LaserScan::ConstPtr &second_scanner)
void	messageFilterCallback (const sensor_msgs::LaserScan::ConstPtr &first_scanner, const sensor_msgs::LaserScan::ConstPtr &second_scanner, const sensor_msgs::LaserScan::ConstPtr &third_scanner)
void	messageFilterCallback (const sensor_msgs::LaserScan::ConstPtr &first_scanner, const sensor_msgs::LaserScan::ConstPtr &second_scanner, const sensor_msgs::LaserScan::ConstPtr &third_scanner, const sensor_msgs::LaserScan::ConstPtr &fourth_scanner)

Private Attributes
config_struct	config_
std::string	frame_
std::vector< message_filters::Subscriber< sensor_msgs::LaserScan > * >	message_filter_subscribers_
message_filters::Synchronizer< message_filters::sync_policies::ApproximateTime< sensor_msgs::LaserScan, sensor_msgs::LaserScan > > *	synchronizer2_
message_filters::Synchronizer< message_filters::sync_policies::ApproximateTime< sensor_msgs::LaserScan, sensor_msgs::LaserScan, sensor_msgs::LaserScan > > *	synchronizer3_
message_filters::Synchronizer< message_filters::sync_policies::ApproximateTime< sensor_msgs::LaserScan, sensor_msgs::LaserScan, sensor_msgs::LaserScan, sensor_msgs::LaserScan > > *	synchronizer4_

Detailed Description

Definition at line 46 of file scan_unifier_node.h.

Constructor & Destructor Documentation

ScanUnifierNode::ScanUnifierNode

(

)

Definition at line 21 of file scan_unifier_node.cpp.

ScanUnifierNode::~ScanUnifierNode

(

)

Definition at line 96 of file scan_unifier_node.cpp.

Member Function Documentation

void ScanUnifierNode::getParams

(

)

function to load parameters from ros parameter server

getParams input: - output: -

Definition at line 113 of file scan_unifier_node.cpp.

void ScanUnifierNode::messageFilterCallback ( const sensor_msgs::LaserScan::ConstPtr &  first_scanner, const sensor_msgs::LaserScan::ConstPtr &  second_scanner  )

private

Definition at line 136 of file scan_unifier_node.cpp.

void ScanUnifierNode::messageFilterCallback ( const sensor_msgs::LaserScan::ConstPtr &  first_scanner, const sensor_msgs::LaserScan::ConstPtr &  second_scanner, const sensor_msgs::LaserScan::ConstPtr &  third_scanner  )

private

Definition at line 152 of file scan_unifier_node.cpp.

void ScanUnifierNode::messageFilterCallback ( const sensor_msgs::LaserScan::ConstPtr &  first_scanner, const sensor_msgs::LaserScan::ConstPtr &  second_scanner, const sensor_msgs::LaserScan::ConstPtr &  third_scanner, const sensor_msgs::LaserScan::ConstPtr &  fourth_scanner  )

private

Definition at line 171 of file scan_unifier_node.cpp.

bool ScanUnifierNode::unifyLaserScans	(	const std::vector< sensor_msgs::LaserScan::ConstPtr > &	current_scans,
		sensor_msgs::LaserScan &	unified_scan
	)

unifie the scan information from all laser scans in vec_laser_struct_

unifieLaserScans input: - output:

Parameters

Definition at line 200 of file scan_unifier_node.cpp.

Member Data Documentation

config_struct ScanUnifierNode::config_

private

Definition at line 63 of file scan_unifier_node.h.

std::string ScanUnifierNode::frame_

private

Definition at line 65 of file scan_unifier_node.h.

tf::TransformListener ScanUnifierNode::listener_

Definition at line 108 of file scan_unifier_node.h.

std::vector<message_filters::Subscriber<sensor_msgs::LaserScan>* > ScanUnifierNode::message_filter_subscribers_

private

Definition at line 67 of file scan_unifier_node.h.

ros::NodeHandle ScanUnifierNode::nh_

Definition at line 102 of file scan_unifier_node.h.

ros::NodeHandle ScanUnifierNode::pnh_

Definition at line 102 of file scan_unifier_node.h.

laser_geometry::LaserProjection ScanUnifierNode::projector_

Definition at line 111 of file scan_unifier_node.h.

message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensor_msgs::LaserScan, sensor_msgs::LaserScan> >* ScanUnifierNode::synchronizer2_

private

Definition at line 70 of file scan_unifier_node.h.

message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensor_msgs::LaserScan, sensor_msgs::LaserScan, sensor_msgs::LaserScan> >* ScanUnifierNode::synchronizer3_

private

Definition at line 73 of file scan_unifier_node.h.

message_filters::Synchronizer<message_filters::sync_policies::ApproximateTime<sensor_msgs::LaserScan, sensor_msgs::LaserScan, sensor_msgs::LaserScan, sensor_msgs::LaserScan> >* ScanUnifierNode::synchronizer4_

private

Definition at line 77 of file scan_unifier_node.h.

ros::Publisher ScanUnifierNode::topicPub_LaserUnified_

Definition at line 105 of file scan_unifier_node.h.

std::vector<sensor_msgs::PointCloud> ScanUnifierNode::vec_cloud_

Definition at line 113 of file scan_unifier_node.h.

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

• scan_unifier_node.h
• scan_unifier_node.cpp