velodyne_rawdata::DataContainerBase Class Reference

#include <datacontainerbase.h>

Inheritance diagram for velodyne_rawdata::DataContainerBase:

Classes
struct	Config

Public Member Functions
virtual void	addPoint (float x, float y, float z, const uint16_t ring, const uint16_t azimuth, const float distance, const float intensity, const float time)=0
bool	computeTransformation (const ros::Time &time)
void	configure (const double max_range, const double min_range, const std::string fixed_frame, const std::string target_frame)
	DataContainerBase (const double max_range, const double min_range, const std::string &target_frame, const std::string &fixed_frame, const unsigned int init_width, const unsigned int init_height, const bool is_dense, const unsigned int scans_per_packet, boost::shared_ptr< tf::TransformListener > &tf_ptr, int fields,...)
const sensor_msgs::PointCloud2 &	finishCloud ()
virtual void	newLine ()=0
bool	pointInRange (float range)
virtual void	setup (const velodyne_msgs::VelodyneScan::ConstPtr &scan_msg)
void	transformPoint (float &x, float &y, float &z)
void	vectorTfToEigen (tf::Vector3 &tf_vec, Eigen::Vector3f &eigen_vec)

Public Attributes
sensor_msgs::PointCloud2	cloud

Protected Attributes
Config	config_
boost::shared_ptr< tf::TransformListener >	tf_ptr
	transform listener More...
Eigen::Affine3f	transformation

Detailed Description

Definition at line 45 of file datacontainerbase.h.

Constructor & Destructor Documentation

velodyne_rawdata::DataContainerBase::DataContainerBase ( const double  max_range, const double  min_range, const std::string &  target_frame, const std::string &  fixed_frame, const unsigned int  init_width, const unsigned int  init_height, const bool  is_dense, const unsigned int  scans_per_packet, boost::shared_ptr< tf::TransformListener > &  tf_ptr, int  fields,   ...  )

inline

Definition at line 48 of file datacontainerbase.h.

Member Function Documentation

virtual void velodyne_rawdata::DataContainerBase::addPoint ( float  x, float  y, float  z, const uint16_t  ring, const uint16_t  azimuth, const float  distance, const float  intensity, const float  time  )

pure virtual

Implemented in velodyne_pointcloud::OrganizedCloudXYZIR, and velodyne_pointcloud::PointcloudXYZIR.

bool velodyne_rawdata::DataContainerBase::computeTransformation ( const ros::Time &  time )

inline

Definition at line 160 of file datacontainerbase.h.

void velodyne_rawdata::DataContainerBase::configure ( const double  max_range, const double  min_range, const std::string  fixed_frame, const std::string  target_frame  )

inline

Definition at line 136 of file datacontainerbase.h.

const sensor_msgs::PointCloud2& velodyne_rawdata::DataContainerBase::finishCloud ( )

inline

Definition at line 122 of file datacontainerbase.h.

virtual void velodyne_rawdata::DataContainerBase::newLine ( )

pure virtual

Implemented in velodyne_pointcloud::OrganizedCloudXYZIR, and velodyne_pointcloud::PointcloudXYZIR.

bool velodyne_rawdata::DataContainerBase::pointInRange ( float  range )

inline

Definition at line 196 of file datacontainerbase.h.

virtual void velodyne_rawdata::DataContainerBase::setup ( const velodyne_msgs::VelodyneScan::ConstPtr &  scan_msg )

inlinevirtual

Reimplemented in velodyne_pointcloud::OrganizedCloudXYZIR, and velodyne_pointcloud::PointcloudXYZIR.

Definition at line 109 of file datacontainerbase.h.

void velodyne_rawdata::DataContainerBase::transformPoint ( float &  x, float &  y, float &  z  )

inline

Definition at line 188 of file datacontainerbase.h.

void velodyne_rawdata::DataContainerBase::vectorTfToEigen ( tf::Vector3 &  tf_vec, Eigen::Vector3f &  eigen_vec  )

inline

Definition at line 153 of file datacontainerbase.h.

Member Data Documentation

sensor_msgs::PointCloud2 velodyne_rawdata::DataContainerBase::cloud

Definition at line 151 of file datacontainerbase.h.

Config velodyne_rawdata::DataContainerBase::config_

protected

Definition at line 202 of file datacontainerbase.h.

boost::shared_ptr<tf::TransformListener> velodyne_rawdata::DataContainerBase::tf_ptr

protected

transform listener

Definition at line 203 of file datacontainerbase.h.

Eigen::Affine3f velodyne_rawdata::DataContainerBase::transformation

protected

Definition at line 204 of file datacontainerbase.h.

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

• datacontainerbase.h