laser_assembler::LaserScanAssembler Class Reference

Maintains a history of laser scans and generates a point cloud upon request. More...

Inheritance diagram for laser_assembler::LaserScanAssembler:

Public Member Functions
void	ConvertToCloud (const string &fixed_frame_id, const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud &cloud_out)
unsigned int	GetPointsInScan (const sensor_msgs::LaserScan &scan)
	Returns the number of points in the current scan. More...
	LaserScanAssembler ()
void	scanCallback (const sensor_msgs::LaserScanConstPtr &laser_scan)
	~LaserScanAssembler ()
Public Member Functions inherited from laser_assembler::BaseAssembler< sensor_msgs::LaserScan >
	BaseAssembler (const std::string &max_size_param_name)
virtual void	ConvertToCloud (const std::string &fixed_frame_id, const sensor_msgs::LaserScan &scan_in, sensor_msgs::PointCloud &cloud_out)=0
	Converts the current scan into a cloud in the specified fixed frame. More...
void	start (const std::string &in_topic_name)
	Tells the assembler to start listening to input data It is possible that a derived class needs to initialize and configure various things before actually beginning to process scans. Calling start create subcribes to the input stream, thus allowing the scanCallback and ConvertToCloud to be called. Start should be called only once. More...
void	start ()
	~BaseAssembler ()

Private Attributes
filters::FilterChain< sensor_msgs::LaserScan >	filter_chain_
bool	ignore_laser_skew_
ros::Duration	max_tolerance_
laser_geometry::LaserProjection	projector_
sensor_msgs::LaserScan	scan_filtered_
ros::Subscriber	skew_scan_sub_

Additional Inherited Members
Protected Attributes inherited from laser_assembler::BaseAssembler< sensor_msgs::LaserScan >
ros::NodeHandle	n_
ros::NodeHandle	private_ns_
tf::TransformListener *	tf_
tf::MessageFilter< sensor_msgs::LaserScan > *	tf_filter_

Detailed Description

Maintains a history of laser scans and generates a point cloud upon request.

Definition at line 50 of file laser_scan_assembler.cpp.

Constructor & Destructor Documentation

laser_assembler::LaserScanAssembler::LaserScanAssembler ( )

inline

Definition at line 53 of file laser_scan_assembler.cpp.

laser_assembler::LaserScanAssembler::~LaserScanAssembler ( )

inline

Definition at line 71 of file laser_scan_assembler.cpp.

Member Function Documentation

void laser_assembler::LaserScanAssembler::ConvertToCloud ( const string &  fixed_frame_id, const sensor_msgs::LaserScan &  scan_in, sensor_msgs::PointCloud &  cloud_out  )

inline

Definition at line 81 of file laser_scan_assembler.cpp.

unsigned int laser_assembler::LaserScanAssembler::GetPointsInScan ( const sensor_msgs::LaserScan &  scan )

inlinevirtual

Returns the number of points in the current scan.

Parameters

scan	The scan for for which we want to know the number of points

Returns

the number of points in scan

Implements laser_assembler::BaseAssembler< sensor_msgs::LaserScan >.

Definition at line 76 of file laser_scan_assembler.cpp.

void laser_assembler::LaserScanAssembler::scanCallback ( const sensor_msgs::LaserScanConstPtr &  laser_scan )

inline

Definition at line 104 of file laser_scan_assembler.cpp.

Member Data Documentation

filters::FilterChain<sensor_msgs::LaserScan> laser_assembler::LaserScanAssembler::filter_chain_

private

Definition at line 127 of file laser_scan_assembler.cpp.

bool laser_assembler::LaserScanAssembler::ignore_laser_skew_

private

Definition at line 121 of file laser_scan_assembler.cpp.

ros::Duration laser_assembler::LaserScanAssembler::max_tolerance_

private

Definition at line 125 of file laser_scan_assembler.cpp.

laser_geometry::LaserProjection laser_assembler::LaserScanAssembler::projector_

private

Definition at line 122 of file laser_scan_assembler.cpp.

sensor_msgs::LaserScan laser_assembler::LaserScanAssembler::scan_filtered_

mutableprivate

Definition at line 128 of file laser_scan_assembler.cpp.

ros::Subscriber laser_assembler::LaserScanAssembler::skew_scan_sub_

private

Definition at line 124 of file laser_scan_assembler.cpp.

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

• laser_scan_assembler.cpp