dense_laser_assembler::DenseLaserAssembler Class Reference

#include <dense_laser_assembler.h>

Public Member Functions
void	add (const sensor_msgs::LaserScanConstPtr &laser_scan)
bool	assembleSnapshot (const ros::Time &start, const ros::Time &end, calibration_msgs::DenseLaserSnapshot &snapshot)
	Takes a vector of LaserScan messages, and composes them into one larger snapshot. More...
	DenseLaserAssembler (const unsigned int cache_size=100)
void	setCacheSize (const unsigned int cache_size)

Private Member Functions
bool	flattenScanVec (const std::vector< sensor_msgs::LaserScanConstPtr > &scans, calibration_msgs::DenseLaserSnapshot &snapshot)
	Takes a vector of LaserScan messages, and composes them into one larger snapshot. More...
bool	verifyMetadata (const calibration_msgs::DenseLaserSnapshot &snapshot, const sensor_msgs::LaserScan &scan)
	Internal data consistency check. More...

Private Attributes
settlerlib::SortedDeque< sensor_msgs::LaserScanConstPtr >	cache_
	Stores the history of laser scans. More...

Detailed Description

Definition at line 49 of file dense_laser_assembler.h.

Constructor & Destructor Documentation

DenseLaserAssembler::DenseLaserAssembler

(

const unsigned int

cache_size = 100

)

Definition at line 40 of file dense_laser_assembler.cpp.

Member Function Documentation

void DenseLaserAssembler::add

(

const sensor_msgs::LaserScanConstPtr &

laser_scan

)

Definition at line 51 of file dense_laser_assembler.cpp.

bool DenseLaserAssembler::assembleSnapshot	(	const ros::Time &	start,
		const ros::Time &	end,
		calibration_msgs::DenseLaserSnapshot &	snapshot
	)

Takes a vector of LaserScan messages, and composes them into one larger snapshot.

Parameters

start	The earliest scan time to be included in the snapshot
end	The latest scan time to be included in the snapshot
output	A populated snapshot message

Returns

True on success

Definition at line 56 of file dense_laser_assembler.cpp.

bool DenseLaserAssembler::flattenScanVec ( const std::vector< sensor_msgs::LaserScanConstPtr > &  scans, calibration_msgs::DenseLaserSnapshot &  snapshot  )

private

Takes a vector of LaserScan messages, and composes them into one larger snapshot.

Parameters

scans	Vector of laser scans
snapshot	Output: A populated snapshot message

Returns

True on success. Could fail if all the scans don't have the same metadata

Definition at line 69 of file dense_laser_assembler.cpp.

void DenseLaserAssembler::setCacheSize

(

const unsigned int

cache_size

)

Definition at line 46 of file dense_laser_assembler.cpp.

bool DenseLaserAssembler::verifyMetadata ( const calibration_msgs::DenseLaserSnapshot &  snapshot, const sensor_msgs::LaserScan &  scan  )

private

Internal data consistency check.

A check to make sure that a scan's metadata matches the metadata of the snapshot.

Parameters

snapshot	The snapshot to compare against
scan	the scan to compare against

Returns

True on success. False if metadata doesn't match

Definition at line 153 of file dense_laser_assembler.cpp.

Member Data Documentation

settlerlib::SortedDeque<sensor_msgs::LaserScanConstPtr> dense_laser_assembler::DenseLaserAssembler::cache_

private

Stores the history of laser scans.

Definition at line 70 of file dense_laser_assembler.h.

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

• dense_laser_assembler.h
• dense_laser_assembler.cpp