system.cpp File Reference

#include <gtest/gtest.h>
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/LaserScan.h>
#include <cstdlib>
#include <algorithm>
#include <vector>

Include dependency graph for system.cpp:

Go to the source code of this file.

Classes
struct	Point
struct	PointCloud

Functions
size_t	findClosestIndex (const PointCloud &cloud, uint16_t ring, float x, float y)
int	main (int argc, char **argv)
void	publishNone ()
void	publishR (const PointCloud &cloud)
void	publishXYZ (const PointCloud &cloud)
void	publishXYZIR1 (const PointCloud &cloud)
void	publishXYZIR2 (const PointCloud &cloud)
void	publishXYZR (const PointCloud &cloud)
void	publishXYZR32 (const PointCloud &cloud)
void	recv (const sensor_msgs::LaserScanConstPtr &msg)
static ros::Time	rosTime (const ros::WallTime &stamp)
static float	SQUARE (float x)
	TEST (System, missing_fields)
	TEST (System, empty_data)
	TEST (System, random_data_sparse)
	TEST (System, random_data_dense)
void	verifyScanDense (const PointCloud &cloud, uint16_t ring, bool intensity=true)
void	verifyScanEmpty (const PointCloud &cloud, bool intensity=true)
void	verifyScanSparse (const PointCloud &cloud, uint16_t ring, uint16_t ring_count, bool intensity=true)
bool	waitForScan (ros::WallDuration dur)

Variables
ros::Publisher	g_pub
sensor_msgs::LaserScan	g_scan
volatile bool	g_scan_new = false
ros::Subscriber	g_sub

Function Documentation

size_t findClosestIndex	(	const PointCloud &	cloud,
		uint16_t	ring,
		float	x,
		float	y
	)

Definition at line 374 of file system.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 693 of file system.cpp.

void publishNone

(

)

Definition at line 354 of file system.cpp.

void publishR

(

const PointCloud &

cloud

)

Definition at line 245 of file system.cpp.

void publishXYZ

(

const PointCloud &

cloud

)

Definition at line 317 of file system.cpp.

void publishXYZIR1

(

const PointCloud &

cloud

)

Definition at line 100 of file system.cpp.

void publishXYZIR2

(

const PointCloud &

cloud

)

Definition at line 150 of file system.cpp.

void publishXYZR

(

const PointCloud &

cloud

)

Definition at line 200 of file system.cpp.

void publishXYZR32

(

const PointCloud &

cloud

)

Definition at line 272 of file system.cpp.

void recv

(

const sensor_msgs::LaserScanConstPtr &

msg

)

Definition at line 74 of file system.cpp.

static ros::Time rosTime ( const ros::WallTime &  stamp )

inlinestatic

Definition at line 68 of file system.cpp.

static float SQUARE ( float  x )

inlinestatic

Definition at line 369 of file system.cpp.

TEST	(	System	,
		missing_fields
	)

Definition at line 508 of file system.cpp.

TEST	(	System	,
		empty_data
	)

Definition at line 548 of file system.cpp.

TEST	(	System	,
		random_data_sparse
	)

Definition at line 586 of file system.cpp.

TEST	(	System	,
		random_data_dense
	)

Definition at line 640 of file system.cpp.

void verifyScanDense	(	const PointCloud &	cloud,
		uint16_t	ring,
		bool	intensity = true
	)

Definition at line 471 of file system.cpp.

void verifyScanEmpty	(	const PointCloud &	cloud,
		bool	intensity = true
	)

Definition at line 397 of file system.cpp.

void verifyScanSparse	(	const PointCloud &	cloud,
		uint16_t	ring,
		uint16_t	ring_count,
		bool	intensity = true
	)

Definition at line 423 of file system.cpp.

bool waitForScan

(

ros::WallDuration

dur

)

Definition at line 81 of file system.cpp.

Variable Documentation

ros::Publisher g_pub

Definition at line 62 of file system.cpp.

sensor_msgs::LaserScan g_scan

Definition at line 64 of file system.cpp.

volatile bool g_scan_new = false

Definition at line 65 of file system.cpp.

ros::Subscriber g_sub

Definition at line 63 of file system.cpp.