LaserScanObserver Class Reference

Class responsibilities: observes laser scans and odometry; converts ROS structures to internal representation. More...

#include <laser_scan_observer.h>

Inheritance diagram for LaserScanObserver:

Public Member Functions
virtual void	handle_laser_scan (TransformedLaserScan &)=0
virtual void	handle_transformed_msg (const ScanPtr msg, const tf::StampedTransform &t)
	Converts ROS-specific structures that hold sensor data to internal framework's structures; Laser scan filtering is performed as part of the conversion. More...
	LaserScanObserver (bool skip_max_vals=false)
Public Member Functions inherited from TopicObserver< sensor_msgs::LaserScan >
virtual void	handle_transformed_msg (const boost::shared_ptr< sensor_msgs::LaserScan >, const tf::StampedTransform &)=0

Private Types
using	ScanPtr = boost::shared_ptr< sensor_msgs::LaserScan >

Private Attributes
double	_prev_x
double	_prev_y
double	_prev_yaw
bool	_skip_max_vals

Detailed Description

Class responsibilities: observes laser scans and odometry; converts ROS structures to internal representation.

Definition at line 15 of file laser_scan_observer.h.

Member Typedef Documentation

using LaserScanObserver::ScanPtr = boost::shared_ptr<sensor_msgs::LaserScan>

private

Definition at line 16 of file laser_scan_observer.h.

Constructor & Destructor Documentation

LaserScanObserver::LaserScanObserver ( bool  skip_max_vals = false )

inline

Initializes the base laser scan observer.

Parameters

skip_max_vals

Whether scan points that exceed the max reliable scan-specific distance be skipped.

Definition at line 22 of file laser_scan_observer.h.

Member Function Documentation

virtual void LaserScanObserver::handle_laser_scan ( TransformedLaserScan &  )

pure virtual

Implemented in TinySlamFascade.

virtual void LaserScanObserver::handle_transformed_msg ( const ScanPtr  msg, const tf::StampedTransform &  t  )

inlinevirtual

Converts ROS-specific structures that hold sensor data to internal framework's structures; Laser scan filtering is performed as part of the conversion.

Parameters

msg	A ROS specific laser scan message.
t	A TF specific transform.

Definition at line 31 of file laser_scan_observer.h.

Member Data Documentation

double LaserScanObserver::_prev_x

private

Definition at line 70 of file laser_scan_observer.h.

double LaserScanObserver::_prev_y

private

Definition at line 70 of file laser_scan_observer.h.

double LaserScanObserver::_prev_yaw

private

Definition at line 70 of file laser_scan_observer.h.

bool LaserScanObserver::_skip_max_vals

private

Definition at line 69 of file laser_scan_observer.h.

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

• laser_scan_observer.h