#include <lslidar_c16_decoder.h>

Classes
struct	Firing

struct	RawBlock

struct	RawPacket

union	TwoBytes

Public Types
typedef boost::shared_ptr< const LslidarC16Decoder >	LslidarC16DecoderConstPtr

typedef boost::shared_ptr< LslidarC16Decoder >	LslidarC16DecoderPtr

Public Member Functions
bool	initialize ()

	LslidarC16Decoder (ros::NodeHandle &n, ros::NodeHandle &pn)

	LslidarC16Decoder (const LslidarC16Decoder &)=delete

LslidarC16Decoder	operator= (const LslidarC16Decoder &)=delete

	~LslidarC16Decoder ()

Private Member Functions
bool	checkPacketValidity (const RawPacket *packet)

bool	createRosIO ()

void	decodePacket (const RawPacket *packet)

point_struct	getMeans (std::vector< point_struct > clusters)

bool	isPointInRange (const double &distance)

void	layerCallback (const std_msgs::Int8Ptr &msg)

bool	loadParameters ()

void	packetCallback (const lslidar_c16_msgs::LslidarC16PacketConstPtr &msg)

void	publishChannelScan ()

void	publishPointCloud ()

void	publishScan ()

double	rawAzimuthToDouble (const uint16_t &raw_azimuth)

Private Attributes
double	angle3_disable_max

double	angle3_disable_min

double	angle_base

double	angle_disable_max

double	angle_disable_min

bool	apollo_interface

ros::Publisher	channel_scan_pub

double	cos_azimuth_table [6300]

Firing	firings [FIRINGS_PER_PACKET]

std::string	frame_id

double	frequency

bool	is_first_sweep

double	last_azimuth

int	layer_num

ros::Subscriber	layer_sub

double	max_range

double	min_range

lslidar_c16_msgs::LslidarC16LayerPtr	multi_scan

ros::NodeHandle	nh

double	packet_start_time

ros::Subscriber	packet_sub

ros::NodeHandle	pnh

sensor_msgs::PointCloud2	point_cloud_data

ros::Publisher	point_cloud_pub

int	point_num

bool	publish_point_cloud

bool	publish_scan

ros::Publisher	scan_pub

double	sin_azimuth_table [6300]

lslidar_c16_msgs::LslidarC16SweepPtr	sweep_data

ros::Publisher	sweep_pub

double	sweep_start_time

bool	use_gps_ts

Detailed Description

Definition at line 126 of file lslidar_c16_decoder.h.

Member Typedef Documentation

typedef boost::shared_ptr<const LslidarC16Decoder> lslidar_c16_decoder::LslidarC16Decoder::LslidarC16DecoderConstPtr

Definition at line 137 of file lslidar_c16_decoder.h.

typedef boost::shared_ptr<LslidarC16Decoder> lslidar_c16_decoder::LslidarC16Decoder::LslidarC16DecoderPtr

Definition at line 136 of file lslidar_c16_decoder.h.

Constructor & Destructor Documentation

lslidar_c16_decoder::LslidarC16Decoder::LslidarC16Decoder	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pn
	)

Definition at line 24 of file lslidar_c16_decoder.cpp.

lslidar_c16_decoder::LslidarC16Decoder::LslidarC16Decoder ( const LslidarC16Decoder & )

delete

lslidar_c16_decoder::LslidarC16Decoder::~LslidarC16Decoder ( )

inline

Definition at line 132 of file lslidar_c16_decoder.h.

Member Function Documentation

bool lslidar_c16_decoder::LslidarC16Decoder::checkPacketValidity ( const RawPacket * packet )

private

Definition at line 122 of file lslidar_c16_decoder.cpp.

bool lslidar_c16_decoder::LslidarC16Decoder::createRosIO ( )

private

Definition at line 79 of file lslidar_c16_decoder.cpp.

void lslidar_c16_decoder::LslidarC16Decoder::decodePacket ( const RawPacket * packet )

private

Definition at line 362 of file lslidar_c16_decoder.cpp.

point_struct lslidar_c16_decoder::LslidarC16Decoder::getMeans ( std::vector< point_struct > clusters )

private

Definition at line 336 of file lslidar_c16_decoder.cpp.

bool lslidar_c16_decoder::LslidarC16Decoder::initialize ( )

Definition at line 95 of file lslidar_c16_decoder.cpp.

bool lslidar_c16_decoder::LslidarC16Decoder::isPointInRange ( const double & distance )

inlineprivate

Definition at line 183 of file lslidar_c16_decoder.h.

void lslidar_c16_decoder::LslidarC16Decoder::layerCallback ( const std_msgs::Int8Ptr & msg )

private

Definition at line 438 of file lslidar_c16_decoder.cpp.

bool lslidar_c16_decoder::LslidarC16Decoder::loadParameters ( )

private

Definition at line 40 of file lslidar_c16_decoder.cpp.

LslidarC16Decoder lslidar_c16_decoder::LslidarC16Decoder::operator= ( const LslidarC16Decoder & )

delete

void lslidar_c16_decoder::LslidarC16Decoder::packetCallback ( const lslidar_c16_msgs::LslidarC16PacketConstPtr & msg )

private

Definition at line 455 of file lslidar_c16_decoder.cpp.

void lslidar_c16_decoder::LslidarC16Decoder::publishChannelScan ( )

private

Definition at line 216 of file lslidar_c16_decoder.cpp.

void lslidar_c16_decoder::LslidarC16Decoder::publishPointCloud ( )

private

Definition at line 134 of file lslidar_c16_decoder.cpp.

void lslidar_c16_decoder::LslidarC16Decoder::publishScan ( )

private

Definition at line 280 of file lslidar_c16_decoder.cpp.

double lslidar_c16_decoder::LslidarC16Decoder::rawAzimuthToDouble ( const uint16_t & raw_azimuth )

inlineprivate

Definition at line 187 of file lslidar_c16_decoder.h.

Member Data Documentation

double lslidar_c16_decoder::LslidarC16Decoder::angle3_disable_max

private

Definition at line 206 of file lslidar_c16_decoder.h.

double lslidar_c16_decoder::LslidarC16Decoder::angle3_disable_min

private

Definition at line 205 of file lslidar_c16_decoder.h.

double lslidar_c16_decoder::LslidarC16Decoder::angle_base

private

Definition at line 198 of file lslidar_c16_decoder.h.

double lslidar_c16_decoder::LslidarC16Decoder::angle_disable_max

private

Definition at line 204 of file lslidar_c16_decoder.h.

double lslidar_c16_decoder::LslidarC16Decoder::angle_disable_min

private

Definition at line 203 of file lslidar_c16_decoder.h.

bool lslidar_c16_decoder::LslidarC16Decoder::apollo_interface

private

Definition at line 211 of file lslidar_c16_decoder.h.

ros::Publisher lslidar_c16_decoder::LslidarC16Decoder::channel_scan_pub

private

Definition at line 238 of file lslidar_c16_decoder.h.

double lslidar_c16_decoder::LslidarC16Decoder::cos_azimuth_table[6300]

private

Definition at line 212 of file lslidar_c16_decoder.h.

Firing lslidar_c16_decoder::LslidarC16Decoder::firings[FIRINGS_PER_PACKET]

private

Definition at line 220 of file lslidar_c16_decoder.h.

std::string lslidar_c16_decoder::LslidarC16Decoder::frame_id

private

Definition at line 227 of file lslidar_c16_decoder.h.

double lslidar_c16_decoder::LslidarC16Decoder::frequency

private

Definition at line 207 of file lslidar_c16_decoder.h.

bool lslidar_c16_decoder::LslidarC16Decoder::is_first_sweep

private

Definition at line 215 of file lslidar_c16_decoder.h.

double lslidar_c16_decoder::LslidarC16Decoder::last_azimuth

private

Definition at line 216 of file lslidar_c16_decoder.h.

int lslidar_c16_decoder::LslidarC16Decoder::layer_num

private

Definition at line 219 of file lslidar_c16_decoder.h.

ros::Subscriber lslidar_c16_decoder::LslidarC16Decoder::layer_sub

private

Definition at line 234 of file lslidar_c16_decoder.h.

double lslidar_c16_decoder::LslidarC16Decoder::max_range

private

Definition at line 202 of file lslidar_c16_decoder.h.

double lslidar_c16_decoder::LslidarC16Decoder::min_range

private

Definition at line 201 of file lslidar_c16_decoder.h.

lslidar_c16_msgs::LslidarC16LayerPtr lslidar_c16_decoder::LslidarC16Decoder::multi_scan

private

Definition at line 230 of file lslidar_c16_decoder.h.

ros::NodeHandle lslidar_c16_decoder::LslidarC16Decoder::nh

private

Definition at line 223 of file lslidar_c16_decoder.h.

double lslidar_c16_decoder::LslidarC16Decoder::packet_start_time

private

Definition at line 218 of file lslidar_c16_decoder.h.

ros::Subscriber lslidar_c16_decoder::LslidarC16Decoder::packet_sub

private

Definition at line 233 of file lslidar_c16_decoder.h.

ros::NodeHandle lslidar_c16_decoder::LslidarC16Decoder::pnh

private

Definition at line 224 of file lslidar_c16_decoder.h.

sensor_msgs::PointCloud2 lslidar_c16_decoder::LslidarC16Decoder::point_cloud_data

private

Definition at line 231 of file lslidar_c16_decoder.h.

ros::Publisher lslidar_c16_decoder::LslidarC16Decoder::point_cloud_pub

private

Definition at line 236 of file lslidar_c16_decoder.h.

int lslidar_c16_decoder::LslidarC16Decoder::point_num

private

Definition at line 197 of file lslidar_c16_decoder.h.

bool lslidar_c16_decoder::LslidarC16Decoder::publish_point_cloud

private

Definition at line 208 of file lslidar_c16_decoder.h.

bool lslidar_c16_decoder::LslidarC16Decoder::publish_scan

private

Definition at line 210 of file lslidar_c16_decoder.h.

ros::Publisher lslidar_c16_decoder::LslidarC16Decoder::scan_pub

private

Definition at line 237 of file lslidar_c16_decoder.h.

double lslidar_c16_decoder::LslidarC16Decoder::sin_azimuth_table[6300]

private

Definition at line 213 of file lslidar_c16_decoder.h.

lslidar_c16_msgs::LslidarC16SweepPtr lslidar_c16_decoder::LslidarC16Decoder::sweep_data

private

Definition at line 229 of file lslidar_c16_decoder.h.

ros::Publisher lslidar_c16_decoder::LslidarC16Decoder::sweep_pub

private

Definition at line 235 of file lslidar_c16_decoder.h.

double lslidar_c16_decoder::LslidarC16Decoder::sweep_start_time

private

Definition at line 217 of file lslidar_c16_decoder.h.

bool lslidar_c16_decoder::LslidarC16Decoder::use_gps_ts

private

Definition at line 209 of file lslidar_c16_decoder.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation