Classes
class	DriftedTime

Public Member Functions
void	spin ()

	UrgStampedNode ()

Protected Member Functions
ros::Time	calculateDeviceTimeOrigin (const boost::posix_time::ptime &time_response, const uint64_t &device_timestamp, ros::Time &time_at_device_timestamp)

ros::Time	calculateDeviceTimeOriginByAverage (const boost::posix_time::ptime &time_request, const boost::posix_time::ptime &time_response, const uint64_t &device_timestamp)

void	cbConnect ()

void	cbII (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const std::map< std::string, std::string > &params)

void	cbIISend (const boost::posix_time::ptime &time_send)

void	cbM (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const scip2::ScanData &scan, const bool has_intensity)

void	cbPP (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const std::map< std::string, std::string > &params)

void	cbQT (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status)

void	cbTM (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const scip2::Timestamp &time_device)

void	cbTMSend (const boost::posix_time::ptime &time_send)

void	cbVV (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const std::map< std::string, std::string > &params)

void	delayEstimation (const ros::TimerEvent &event=ros::TimerEvent())

void	timeSync (const ros::TimerEvent &event=ros::TimerEvent())

void	tryTM (const ros::TimerEvent &event=ros::TimerEvent())

Protected Attributes
double	communication_delay_filter_alpha_

std::list< ros::Duration >	communication_delays_

scip2::Connection::Ptr	device_

DriftedTime	device_time_origin_

std::list< ros::Time >	device_time_origins_

ros::Duration	estimated_communication_delay_

bool	estimated_communication_delay_init_

ros::Time	last_sync_time_

sensor_msgs::LaserScan	msg_base_

ros::NodeHandle	nh_

std::vector< ros::Duration >	on_scan_communication_delays_

ros::NodeHandle	pnh_

ros::Publisher	pub_scan_

bool	publish_intensity_

std::default_random_engine	random_engine_

scip2::Protocol::Ptr	scip_

uint32_t	step_max_

uint32_t	step_min_

std::uniform_real_distribution< double >	sync_interval_

ros::Time	t0_

boost::posix_time::ptime	time_ii_request

boost::posix_time::ptime	time_tm_request

ros::Timer	timer_delay_estim_

ros::Timer	timer_sync_

ros::Timer	timer_try_tm_

FirstOrderHPF< double >	timestamp_hpf_

FirstOrderLPF< double >	timestamp_lpf_

TimestampMovingAverage	timestamp_moving_average_

TimestampOutlierRemover	timestamp_outlier_removal_

size_t	tm_iter_num_

size_t	tm_median_window_

scip2::Walltime< 24 >	walltime_

Detailed Description

Definition at line 38 of file urg_stamped.cpp.

Constructor & Destructor Documentation

UrgStampedNode::UrgStampedNode ( )

inline

Definition at line 412 of file urg_stamped.cpp.

Member Function Documentation

ros::Time UrgStampedNode::calculateDeviceTimeOrigin	(	const boost::posix_time::ptime &	time_response,
		const uint64_t &	device_timestamp,
		ros::Time &	time_at_device_timestamp
	)

inlineprotected

Definition at line 111 of file urg_stamped.cpp.

ros::Time UrgStampedNode::calculateDeviceTimeOriginByAverage	(	const boost::posix_time::ptime &	time_request,
		const boost::posix_time::ptime &	time_response,
		const uint64_t &	device_timestamp
	)

inlineprotected

Definition at line 99 of file urg_stamped.cpp.

void UrgStampedNode::cbConnect ( )

inlineprotected

Definition at line 381 of file urg_stamped.cpp.

void UrgStampedNode::cbII	(	const boost::posix_time::ptime &	time_read,
		const std::string &	echo_back,
		const std::string &	status,
		const std::map< std::string, std::string > &	params
	)

inlineprotected

Definition at line 311 of file urg_stamped.cpp.

void UrgStampedNode::cbIISend ( const boost::posix_time::ptime & time_send )

inlineprotected

Definition at line 307 of file urg_stamped.cpp.

void UrgStampedNode::cbM	(	const boost::posix_time::ptime &	time_read,
		const std::string &	echo_back,
		const std::string &	status,
		const scip2::ScanData &	scan,
		const bool	has_intensity
	)

inlineprotected

Definition at line 121 of file urg_stamped.cpp.

void UrgStampedNode::cbPP	(	const boost::posix_time::ptime &	time_read,
		const std::string &	echo_back,
		const std::string &	status,
		const std::map< std::string, std::string > &	params
	)

inlineprotected

Definition at line 263 of file urg_stamped.cpp.

void UrgStampedNode::cbQT	(	const boost::posix_time::ptime &	time_read,
		const std::string &	echo_back,
		const std::string &	status
	)

inlineprotected

Definition at line 374 of file urg_stamped.cpp.

void UrgStampedNode::cbTM	(	const boost::posix_time::ptime &	time_read,
		const std::string &	echo_back,
		const std::string &	status,
		const scip2::Timestamp &	time_device
	)

inlineprotected

Definition at line 179 of file urg_stamped.cpp.

void UrgStampedNode::cbTMSend ( const boost::posix_time::ptime & time_send )

inlineprotected

Definition at line 175 of file urg_stamped.cpp.

void UrgStampedNode::cbVV	(	const boost::posix_time::ptime &	time_read,
		const std::string &	echo_back,
		const std::string &	status,
		const std::map< std::string, std::string > &	params
	)

inlineprotected

Definition at line 300 of file urg_stamped.cpp.

void UrgStampedNode::delayEstimation ( const ros::TimerEvent & event = ros::TimerEvent() )

inlineprotected

Definition at line 396 of file urg_stamped.cpp.

void UrgStampedNode::spin ( )

inline

Definition at line 498 of file urg_stamped.cpp.

void UrgStampedNode::timeSync ( const ros::TimerEvent & event = ros::TimerEvent() )

inlineprotected

Definition at line 387 of file urg_stamped.cpp.

void UrgStampedNode::tryTM ( const ros::TimerEvent & event = ros::TimerEvent() )

inlineprotected

Definition at line 405 of file urg_stamped.cpp.

Member Data Documentation

double UrgStampedNode::communication_delay_filter_alpha_

protected

Definition at line 64 of file urg_stamped.cpp.

std::list<ros::Duration> UrgStampedNode::communication_delays_

protected

Definition at line 58 of file urg_stamped.cpp.

scip2::Connection::Ptr UrgStampedNode::device_

protected

Definition at line 52 of file urg_stamped.cpp.

DriftedTime UrgStampedNode::device_time_origin_

protected

Definition at line 91 of file urg_stamped.cpp.

std::list<ros::Time> UrgStampedNode::device_time_origins_

protected

Definition at line 59 of file urg_stamped.cpp.

ros::Duration UrgStampedNode::estimated_communication_delay_

protected

Definition at line 60 of file urg_stamped.cpp.

bool UrgStampedNode::estimated_communication_delay_init_

protected

Definition at line 63 of file urg_stamped.cpp.

ros::Time UrgStampedNode::last_sync_time_

protected

Definition at line 73 of file urg_stamped.cpp.

sensor_msgs::LaserScan UrgStampedNode::msg_base_

protected

Definition at line 48 of file urg_stamped.cpp.

ros::NodeHandle UrgStampedNode::nh_

protected

Definition at line 41 of file urg_stamped.cpp.

std::vector<ros::Duration> UrgStampedNode::on_scan_communication_delays_

protected

Definition at line 67 of file urg_stamped.cpp.

ros::NodeHandle UrgStampedNode::pnh_

protected

Definition at line 42 of file urg_stamped.cpp.

ros::Publisher UrgStampedNode::pub_scan_

protected

Definition at line 43 of file urg_stamped.cpp.

bool UrgStampedNode::publish_intensity_

protected

Definition at line 55 of file urg_stamped.cpp.

std::default_random_engine UrgStampedNode::random_engine_

protected

Definition at line 71 of file urg_stamped.cpp.

scip2::Protocol::Ptr UrgStampedNode::scip_

protected

Definition at line 53 of file urg_stamped.cpp.

uint32_t UrgStampedNode::step_max_

protected

Definition at line 50 of file urg_stamped.cpp.

uint32_t UrgStampedNode::step_min_

protected

Definition at line 49 of file urg_stamped.cpp.

std::uniform_real_distribution<double> UrgStampedNode::sync_interval_

protected

Definition at line 72 of file urg_stamped.cpp.

ros::Time UrgStampedNode::t0_

protected

Definition at line 93 of file urg_stamped.cpp.

boost::posix_time::ptime UrgStampedNode::time_ii_request

protected

Definition at line 66 of file urg_stamped.cpp.

boost::posix_time::ptime UrgStampedNode::time_tm_request

protected

Definition at line 57 of file urg_stamped.cpp.

ros::Timer UrgStampedNode::timer_delay_estim_

protected

Definition at line 45 of file urg_stamped.cpp.

ros::Timer UrgStampedNode::timer_sync_

protected

Definition at line 44 of file urg_stamped.cpp.

ros::Timer UrgStampedNode::timer_try_tm_

protected

Definition at line 46 of file urg_stamped.cpp.

FirstOrderHPF<double> UrgStampedNode::timestamp_hpf_

protected

Definition at line 95 of file urg_stamped.cpp.

FirstOrderLPF<double> UrgStampedNode::timestamp_lpf_

protected

Definition at line 94 of file urg_stamped.cpp.

TimestampMovingAverage UrgStampedNode::timestamp_moving_average_

protected

Definition at line 97 of file urg_stamped.cpp.

TimestampOutlierRemover UrgStampedNode::timestamp_outlier_removal_

protected

Definition at line 96 of file urg_stamped.cpp.

size_t UrgStampedNode::tm_iter_num_

protected

Definition at line 61 of file urg_stamped.cpp.

size_t UrgStampedNode::tm_median_window_

protected

Definition at line 62 of file urg_stamped.cpp.

scip2::Walltime<24> UrgStampedNode::walltime_

protected

Definition at line 69 of file urg_stamped.cpp.

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

urg_stamped.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation