#include <bta_tof_driver.hpp>

Public Member Functions
	BtaRos (ros::NodeHandle nh_camera, ros::NodeHandle nh_private, std::string nodeName)
	Class constructor. More...

void	close ()
	Closes the connection to the device. More...

int	connectCamera ()
	Helper for connect to the device. More...

int	initialize ()
	Initializes the device and parameters. More...

void	publishData ()
	Publish the data based on set up parameters. More...

virtual	~BtaRos ()
	Class destructor. More...

Static Public Member Functions
static void BTA_CALLCONV	infoEventCb (BTA_EventId eventId, int8_t *msg)

Private Types
typedef bta_tof_driver::bta_tof_driverConfig	Config

typedef dynamic_reconfigure::Server< Config >	ReconfigureServer

Private Member Functions
void	callback (bta_tof_driver::bta_tof_driverConfig &config, uint32_t level)
	Callback for rqt_reconfigure. It is called any time we change a parameter in the visual interface. More...

size_t	getDataSize (BTA_DataFormat dataFormat)
	Returns the size of the data based in BTA_DataFormat. More...

std::string	getDataType (BTA_DataFormat dataFormat)
	Returns the data encoding flat based in BTA_DataFormat. More...

float	getUnit2Meters (BTA_Unit unit)
	Gives the conversion value to meters from the BTA_Unit. More...

void	parseConfig ()
	Reads configuration from the server parameters. More...

Private Attributes
sensor_msgs::PointCloud2Ptr	_xyz

std::string	calibFileName_

camera_info_manager::CameraInfoManager	cim_tof_

BTA_Config	config_

bool	config_init_

boost::mutex	connect_mutex_

BTA_Handle	handle_

image_transport::ImageTransport	it_

ros::NodeHandle	nh_

ros::NodeHandle	nh_private_

std::string	nodeName_

image_transport::CameraPublisher	pub_amp_

image_transport::CameraPublisher	pub_dis_

tf2_ros::StaticTransformBroadcaster	pub_tf

ros::Publisher	pub_xyz_

boost::shared_ptr< ReconfigureServer >	reconfigure_server_

uint8_t	tcpDeviceIpAddr_ [6]

geometry_msgs::TransformStamped	transformStamped

std::string	uartPortName_

uint8_t	udpControlInIpAddr_ [6]

uint8_t	udpControlOutIpAddr_ [6]

uint8_t	udpDataIpAddr_ [6]

Detailed Description

Definition at line 83 of file bta_tof_driver.hpp.

Member Typedef Documentation

◆ Config

typedef bta_tof_driver::bta_tof_driverConfig bta_tof_driver::BtaRos::Config

private

Definition at line 86 of file bta_tof_driver.hpp.

◆ ReconfigureServer

typedef dynamic_reconfigure::Server<Config> bta_tof_driver::BtaRos::ReconfigureServer

private

Definition at line 87 of file bta_tof_driver.hpp.

Constructor & Destructor Documentation

◆ BtaRos()

bta_tof_driver::BtaRos::BtaRos	(	ros::NodeHandle	nh_camera,
		ros::NodeHandle	nh_private,
		std::string	nodeName
	)

Class constructor.

param [in] ros::NodeHandle param [in] ros::NodeHandle param [in] std::string

Definition at line 32 of file bta_tof_driver.cpp.

◆ ~BtaRos()

bta_tof_driver::BtaRos::~BtaRos ( )

virtual

Class destructor.

Definition at line 65 of file bta_tof_driver.cpp.

Member Function Documentation

◆ callback()

void bta_tof_driver::BtaRos::callback	(	bta_tof_driver::bta_tof_driverConfig &	config,
		uint32_t	level
	)

private

Callback for rqt_reconfigure. It is called any time we change a parameter in the visual interface.

Parameters

[in]	config	a reference to a bta tof driver configuration struct
[in]	level

Definition at line 85 of file bta_tof_driver.cpp.

◆ close()

void bta_tof_driver::BtaRos::close ( )

Closes the connection to the device.

Definition at line 71 of file bta_tof_driver.cpp.

◆ connectCamera()

int bta_tof_driver::BtaRos::connectCamera ( )

Helper for connect to the device.

Definition at line 581 of file bta_tof_driver.cpp.

◆ getDataSize()

size_t bta_tof_driver::BtaRos::getDataSize ( BTA_DataFormat dataFormat )

private

Returns the size of the data based in BTA_DataFormat.

Definition at line 188 of file bta_tof_driver.cpp.

◆ getDataType()

std::string bta_tof_driver::BtaRos::getDataType ( BTA_DataFormat dataFormat )

private

Returns the data encoding flat based in BTA_DataFormat.

Definition at line 206 of file bta_tof_driver.cpp.

◆ getUnit2Meters()

float bta_tof_driver::BtaRos::getUnit2Meters ( BTA_Unit unit )

private

Gives the conversion value to meters from the BTA_Unit.

Parameters

unit

Returns: the value to multiply to the data.

Definition at line 223 of file bta_tof_driver.cpp.

◆ infoEventCb()

static void BTA_CALLCONV bta_tof_driver::BtaRos::infoEventCb	(	BTA_EventId	eventId,
		int8_t *	msg
	)

inlinestatic

Definition at line 142 of file bta_tof_driver.hpp.

◆ initialize()

int bta_tof_driver::BtaRos::initialize ( )

Initializes the device and parameters.

Definition at line 626 of file bta_tof_driver.cpp.

◆ parseConfig()

void bta_tof_driver::BtaRos::parseConfig ( )

private

Reads configuration from the server parameters.

Definition at line 446 of file bta_tof_driver.cpp.

◆ publishData()

void bta_tof_driver::BtaRos::publishData ( )

Publish the data based on set up parameters.

Definition at line 238 of file bta_tof_driver.cpp.

Member Data Documentation

◆ _xyz

sensor_msgs::PointCloud2Ptr bta_tof_driver::BtaRos::_xyz

private

Definition at line 166 of file bta_tof_driver.hpp.

◆ calibFileName_

std::string bta_tof_driver::BtaRos::calibFileName_

private

Definition at line 164 of file bta_tof_driver.hpp.

◆ cim_tof_

camera_info_manager::CameraInfoManager bta_tof_driver::BtaRos::cim_tof_

private

Definition at line 149 of file bta_tof_driver.hpp.

◆ config_

BTA_Config bta_tof_driver::BtaRos::config_

private

Definition at line 169 of file bta_tof_driver.hpp.

◆ config_init_

bool bta_tof_driver::BtaRos::config_init_

private

Definition at line 157 of file bta_tof_driver.hpp.

◆ connect_mutex_

boost::mutex bta_tof_driver::BtaRos::connect_mutex_

private

Definition at line 159 of file bta_tof_driver.hpp.

◆ handle_

BTA_Handle bta_tof_driver::BtaRos::handle_

private

Definition at line 168 of file bta_tof_driver.hpp.

◆ it_

image_transport::ImageTransport bta_tof_driver::BtaRos::it_

private

Definition at line 150 of file bta_tof_driver.hpp.

◆ nh_

ros::NodeHandle bta_tof_driver::BtaRos::nh_

private

Definition at line 147 of file bta_tof_driver.hpp.

◆ nh_private_

ros::NodeHandle bta_tof_driver::BtaRos::nh_private_

private

Definition at line 147 of file bta_tof_driver.hpp.

◆ nodeName_

std::string bta_tof_driver::BtaRos::nodeName_

private

Definition at line 148 of file bta_tof_driver.hpp.

◆ pub_amp_

image_transport::CameraPublisher bta_tof_driver::BtaRos::pub_amp_

private

Definition at line 151 of file bta_tof_driver.hpp.

◆ pub_dis_

image_transport::CameraPublisher bta_tof_driver::BtaRos::pub_dis_

private

Definition at line 151 of file bta_tof_driver.hpp.

◆ pub_tf

tf2_ros::StaticTransformBroadcaster bta_tof_driver::BtaRos::pub_tf

private

Definition at line 152 of file bta_tof_driver.hpp.

◆ pub_xyz_

ros::Publisher bta_tof_driver::BtaRos::pub_xyz_

private

Definition at line 154 of file bta_tof_driver.hpp.

◆ reconfigure_server_

boost::shared_ptr<ReconfigureServer> bta_tof_driver::BtaRos::reconfigure_server_

private

Definition at line 156 of file bta_tof_driver.hpp.

◆ tcpDeviceIpAddr_

uint8_t bta_tof_driver::BtaRos::tcpDeviceIpAddr_[6]

private

Definition at line 162 of file bta_tof_driver.hpp.

◆ transformStamped

geometry_msgs::TransformStamped bta_tof_driver::BtaRos::transformStamped

private

Definition at line 153 of file bta_tof_driver.hpp.

◆ uartPortName_

std::string bta_tof_driver::BtaRos::uartPortName_

private

Definition at line 164 of file bta_tof_driver.hpp.

◆ udpControlInIpAddr_

uint8_t bta_tof_driver::BtaRos::udpControlInIpAddr_[6]

private

Definition at line 162 of file bta_tof_driver.hpp.

◆ udpControlOutIpAddr_

uint8_t bta_tof_driver::BtaRos::udpControlOutIpAddr_[6]

private

Definition at line 162 of file bta_tof_driver.hpp.

◆ udpDataIpAddr_

uint8_t bta_tof_driver::BtaRos::udpDataIpAddr_[6]

private

Definition at line 162 of file bta_tof_driver.hpp.

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

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Config

◆ ReconfigureServer

Constructor & Destructor Documentation

◆ BtaRos()

◆ ~BtaRos()

Member Function Documentation

◆ callback()

◆ close()

◆ connectCamera()

◆ getDataSize()

◆ getDataType()

◆ getUnit2Meters()

◆ infoEventCb()

◆ initialize()

◆ parseConfig()

◆ publishData()

Member Data Documentation

◆ _xyz

◆ calibFileName_

◆ cim_tof_

◆ config_

◆ config_init_

◆ connect_mutex_

◆ handle_

◆ it_

◆ nh_

◆ nh_private_

◆ nodeName_

◆ pub_amp_

◆ pub_dis_

◆ pub_tf

◆ pub_xyz_

◆ reconfigure_server_

◆ tcpDeviceIpAddr_

◆ transformStamped

◆ uartPortName_

◆ udpControlInIpAddr_

◆ udpControlOutIpAddr_

◆ udpDataIpAddr_