TimestampSynchronizer Class Reference

#include <TimestampSynchronizer.h>

Classes
class	Options

Public Member Functions
void	reset ()
void	setAlfa_HoltWinters (double alfa_HoltWinters)
void	setAlfa_HoltWinters_early (double alfa_HoltWinters_early)
void	setBeta_HoltWinters (double beta_HoltWinters)
void	setBeta_HoltWinters_early (double beta_HoltWinters_early)
void	setEarlyClamp (bool earlyClamp, int earlyClampWindow=0)
void	setMedianFilter (bool useMedianFilter, int medianFilterWindow=0)
void	setTimeOffset (double timeOffset)
void	setUseHoltWinters (bool useHoltWinters)
double	sync (double currentSensorTime, double currentRosTime, unsigned int seqNumber_external)
	TimestampSynchronizer (const Options defaultOptions=Options())

Private Member Functions
void	init ()
void	initMediator ()

Private Attributes
ros::Publisher	debugPublisher_
bool	firstFrameSet_
HoltWintersSmoothFilter	holtWinters_
ros::NodeHandle	np_
Options	options_
std::unique_ptr< Mediator< double > >	pmediator_
double	previousOut_
double	previousRosTime_
double	previousSensorTime_
unsigned int	seqCounter_
double	startRosTimeBig_
double	startSensorTime_

Detailed Description

The timestamp synchronization functionality is implemented in this class

Definition at line 38 of file TimestampSynchronizer.h.

Constructor & Destructor Documentation

TimestampSynchronizer::TimestampSynchronizer

(

const Options

defaultOptions = Options()

)

The constructor of the TimestampSynchronizer class accepts default options which will be used if the corresponding ROS parameters are not defined

Definition at line 6 of file TimestampSynchronizer.cpp.

Member Function Documentation

void TimestampSynchronizer::init ( )

private

Definition at line 160 of file TimestampSynchronizer.cpp.

void TimestampSynchronizer::initMediator ( )

private

Definition at line 156 of file TimestampSynchronizer.cpp.

void TimestampSynchronizer::reset

(

)

Reset the state of the TimestampSynchronizer, including the states of the Median and Holt-Winters filters.

Definition at line 151 of file TimestampSynchronizer.cpp.

void TimestampSynchronizer::setAlfa_HoltWinters

(

double

alfa_HoltWinters

)

Definition at line 135 of file TimestampSynchronizer.cpp.

void TimestampSynchronizer::setAlfa_HoltWinters_early

(

double

alfa_HoltWinters_early

)

Definition at line 143 of file TimestampSynchronizer.cpp.

void TimestampSynchronizer::setBeta_HoltWinters

(

double

beta_HoltWinters

)

Definition at line 139 of file TimestampSynchronizer.cpp.

void TimestampSynchronizer::setBeta_HoltWinters_early

(

double

beta_HoltWinters_early

)

Definition at line 147 of file TimestampSynchronizer.cpp.

void TimestampSynchronizer::setEarlyClamp	(	bool	earlyClamp,
		int	earlyClampWindow = 0
	)

Definition at line 166 of file TimestampSynchronizer.cpp.

void TimestampSynchronizer::setMedianFilter	(	bool	useMedianFilter,
		int	medianFilterWindow = 0
	)

Definition at line 125 of file TimestampSynchronizer.cpp.

void TimestampSynchronizer::setTimeOffset

(

double

timeOffset

)

Definition at line 121 of file TimestampSynchronizer.cpp.

void TimestampSynchronizer::setUseHoltWinters

(

bool

useHoltWinters

)

Definition at line 131 of file TimestampSynchronizer.cpp.

double TimestampSynchronizer::sync	(	double	currentSensorTime,
		double	currentRosTime,
		unsigned int	seqNumber_external
	)

Accept a reading from the sensor and computer clocks, along with the sequence number, and calculate a corrected timestamp for the sensor reading.

Parameters

currentSensorTime	Time of the current reading, as reported by the sensor.
currentRosTime	Time of the current reading, as read from the system clock.
seqNumber_external	Sequence number of the current reading. Used for logging purposes only (e.g. to examine if frame drops have occured). TimestampSynchronizer keeps its own internal sequence counter.

Returns

Returns the calculated corrected timestamp.

Definition at line 44 of file TimestampSynchronizer.cpp.

Member Data Documentation

ros::Publisher TimestampSynchronizer::debugPublisher_

private

Definition at line 115 of file TimestampSynchronizer.h.

bool TimestampSynchronizer::firstFrameSet_

private

Definition at line 109 of file TimestampSynchronizer.h.

HoltWintersSmoothFilter TimestampSynchronizer::holtWinters_

private

Definition at line 107 of file TimestampSynchronizer.h.

ros::NodeHandle TimestampSynchronizer::np_

private

Definition at line 114 of file TimestampSynchronizer.h.

Options TimestampSynchronizer::options_

private

Definition at line 117 of file TimestampSynchronizer.h.

std::unique_ptr<Mediator<double> > TimestampSynchronizer::pmediator_

private

Definition at line 106 of file TimestampSynchronizer.h.

double TimestampSynchronizer::previousOut_

private

Definition at line 102 of file TimestampSynchronizer.h.

double TimestampSynchronizer::previousRosTime_

private

Definition at line 102 of file TimestampSynchronizer.h.

double TimestampSynchronizer::previousSensorTime_

private

Definition at line 102 of file TimestampSynchronizer.h.

unsigned int TimestampSynchronizer::seqCounter_

private

Definition at line 110 of file TimestampSynchronizer.h.

double TimestampSynchronizer::startRosTimeBig_

private

Definition at line 104 of file TimestampSynchronizer.h.

double TimestampSynchronizer::startSensorTime_

private

Definition at line 105 of file TimestampSynchronizer.h.

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

• TimestampSynchronizer.h
• TimestampSynchronizer.cpp