Live O3M151 input from socket. More...

#include <input.h>

Inheritance diagram for o3m151_driver::InputSocket:

Public Member Functions
virtual int	getPacket (pcl::PointCloud< pcl::PointXYZI > &pc)
	Read one O3M151 packet. More...

	InputSocket (ros::NodeHandle private_nh, uint16_t udp_port=UDP_PORT_NUMBER)
	constructor More...

	~InputSocket ()
	destructor More...

Public Member Functions inherited from o3m151_driver::Input
	Input ()

Additional Inherited Members
Protected Member Functions inherited from o3m151_driver::Input
int	process (int8_t *udpPacketBuf, const ssize_t rc, pcl::PointCloud< pcl::PointXYZI > &pc)

void	processChannel8 (int8_t *buf, uint32_t size, pcl::PointCloud< pcl::PointXYZI > &pc)

int	processPacket (int8_t currentPacketData, uint32_t currentPacketSize, int8_t channelBuffer, uint32_t channelBufferSize, uint32_t *pos)

double	slope (const std::vector< double > &x, const std::vector< double > &y)

Protected Attributes inherited from o3m151_driver::Input
uint32_t	channel_buf_size_

int8_t *	channelBuf

uint32_t	pos_in_channel_

uint32_t	previous_packet_counter_

bool	previous_packet_counter_valid_

bool	startOfChannelFound_

Detailed Description

Live O3M151 input from socket.

Definition at line 85 of file input.h.

Constructor & Destructor Documentation

o3m151_driver::InputSocket::InputSocket	(	ros::NodeHandle	private_nh,
		uint16_t	udp_port = `UDP_PORT_NUMBER`
	)

constructor

Parameters

private_nh	private node handle for driver
udp_port	UDP port number to connect

Definition at line 301 of file input.cc.

o3m151_driver::InputSocket::~InputSocket ( void )

destructor

Definition at line 337 of file input.cc.

int o3m151_driver::InputSocket::getPacket ( pcl::PointCloud< pcl::PointXYZI > & pc )

virtual

Read one O3M151 packet.

Parameters

pkt	points to O3M151Packet message

Returns: 0 if successful, -1 if end of file > 0 if incomplete packet (is this possible?)

Definition at line 342 of file input.cc.

int o3m151_driver::InputSocket::sockfd_

private

Definition at line 95 of file input.h.

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