Public Member Functions | Private Member Functions | Private Attributes | List of all members
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
startThe earliest scan time to be included in the snapshot
endThe latest scan time to be included in the snapshot
outputA 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
scansVector of laser scans
snapshotOutput: 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
snapshotThe snapshot to compare against
scanthe 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.


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


dense_laser_assembler
Author(s): Vijay Pradeep
autogenerated on Tue Jun 1 2021 02:50:54