scan_tools::LaserOrthoProjector Class Reference

#include <laser_ortho_projector.h>

Public Member Functions
	LaserOrthoProjector (ros::NodeHandle nh, ros::NodeHandle nh_private)
virtual	~ LaserOrthoProjector ()

Private Types
typedef sensor_msgs::Imu	ImuMsg
typedef pcl::PointCloud< PointT >	PointCloudT
typedef pcl::PointXYZ	PointT
typedef geometry_msgs::PoseStamped	PoseMsg

Private Member Functions
void	createCache (const sensor_msgs::LaserScan::ConstPtr &scan_msg)
bool	getBaseToLaserTf (const sensor_msgs::LaserScan::ConstPtr &scan_msg)
void	getOrthoTf (const tf::Transform &world_to_base, tf::Transform &world_to_ortho)
void	imuCallback (const ImuMsg::ConstPtr &imu_msg)
void	poseCallback (const PoseMsg::ConstPtr &pose_msg)
void	scanCallback (const sensor_msgs::LaserScan::ConstPtr &scan_msg)

Private Attributes
std::vector< double >	a_cos_
std::vector< double >	a_sin_
std::string	base_frame_
tf::Transform	base_to_laser_
ros::Publisher	cloud_publisher_
ros::Subscriber	imu_subscriber_
bool	initialized_
PointT	nan_point_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
std::string	ortho_frame_
tf::Transform	ortho_to_laser_
ros::Subscriber	pose_subscriber_
bool	publish_tf_
ros::Subscriber	scan_subscriber_
tf::TransformBroadcaster	tf_broadcaster_
tf::TransformListener	tf_listener_
bool	use_imu_
bool	use_pose_
std::string	world_frame_

Detailed Description

Definition at line 51 of file laser_ortho_projector.h.

Member Typedef Documentation

ImuMsg

typedef sensor_msgs::Imu scan_tools::LaserOrthoProjector::ImuMsg

private

Definition at line 57 of file laser_ortho_projector.h.

PointCloudT

typedef pcl::PointCloud<PointT> scan_tools::LaserOrthoProjector::PointCloudT

private

Definition at line 54 of file laser_ortho_projector.h.

PointT

typedef pcl::PointXYZ scan_tools::LaserOrthoProjector::PointT

private

Definition at line 53 of file laser_ortho_projector.h.

PoseMsg

typedef geometry_msgs::PoseStamped scan_tools::LaserOrthoProjector::PoseMsg

private

Definition at line 56 of file laser_ortho_projector.h.

Constructor & Destructor Documentation

LaserOrthoProjector()

scan_tools::LaserOrthoProjector::LaserOrthoProjector	(	ros::NodeHandle	nh,
		ros::NodeHandle	nh_private
	)

Definition at line 36 of file laser_ortho_projector.cpp.

~ LaserOrthoProjector()

virtual scan_tools::LaserOrthoProjector::~ LaserOrthoProjector ( )

virtual

Member Function Documentation

createCache()

void scan_tools::LaserOrthoProjector::createCache ( const sensor_msgs::LaserScan::ConstPtr &  scan_msg )

private

Definition at line 243 of file laser_ortho_projector.cpp.

getBaseToLaserTf()

bool scan_tools::LaserOrthoProjector::getBaseToLaserTf ( const sensor_msgs::LaserScan::ConstPtr &  scan_msg )

private

Definition at line 223 of file laser_ortho_projector.cpp.

getOrthoTf()

void scan_tools::LaserOrthoProjector::getOrthoTf ( const tf::Transform &  world_to_base, tf::Transform &  world_to_ortho  )

private

Definition at line 146 of file laser_ortho_projector.cpp.

imuCallback()

void scan_tools::LaserOrthoProjector::imuCallback ( const ImuMsg::ConstPtr &  imu_msg )

private

Definition at line 100 of file laser_ortho_projector.cpp.

poseCallback()

void scan_tools::LaserOrthoProjector::poseCallback ( const PoseMsg::ConstPtr &  pose_msg )

private

Definition at line 125 of file laser_ortho_projector.cpp.

scanCallback()

void scan_tools::LaserOrthoProjector::scanCallback ( const sensor_msgs::LaserScan::ConstPtr &  scan_msg )

private

Definition at line 158 of file laser_ortho_projector.cpp.

Member Data Documentation

a_cos_

std::vector<double> scan_tools::LaserOrthoProjector::a_cos_

private

Definition at line 95 of file laser_ortho_projector.h.

a_sin_

std::vector<double> scan_tools::LaserOrthoProjector::a_sin_

private

Definition at line 94 of file laser_ortho_projector.h.

base_frame_

std::string scan_tools::LaserOrthoProjector::base_frame_

private

Definition at line 83 of file laser_ortho_projector.h.

base_to_laser_

tf::Transform scan_tools::LaserOrthoProjector::base_to_laser_

private

Definition at line 99 of file laser_ortho_projector.h.

cloud_publisher_

ros::Publisher scan_tools::LaserOrthoProjector::cloud_publisher_

private

Definition at line 71 of file laser_ortho_projector.h.

imu_subscriber_

ros::Subscriber scan_tools::LaserOrthoProjector::imu_subscriber_

private

Definition at line 74 of file laser_ortho_projector.h.

initialized_

bool scan_tools::LaserOrthoProjector::initialized_

private

Definition at line 92 of file laser_ortho_projector.h.

nan_point_

PointT scan_tools::LaserOrthoProjector::nan_point_

private

Definition at line 97 of file laser_ortho_projector.h.

nh_

ros::NodeHandle scan_tools::LaserOrthoProjector::nh_

private

Definition at line 68 of file laser_ortho_projector.h.

nh_private_

ros::NodeHandle scan_tools::LaserOrthoProjector::nh_private_

private

Definition at line 69 of file laser_ortho_projector.h.

ortho_frame_

std::string scan_tools::LaserOrthoProjector::ortho_frame_

private

Definition at line 84 of file laser_ortho_projector.h.

ortho_to_laser_

tf::Transform scan_tools::LaserOrthoProjector::ortho_to_laser_

private

Definition at line 100 of file laser_ortho_projector.h.

pose_subscriber_

ros::Subscriber scan_tools::LaserOrthoProjector::pose_subscriber_

private

Definition at line 75 of file laser_ortho_projector.h.

publish_tf_

bool scan_tools::LaserOrthoProjector::publish_tf_

private

Definition at line 86 of file laser_ortho_projector.h.

scan_subscriber_

ros::Subscriber scan_tools::LaserOrthoProjector::scan_subscriber_

private

Definition at line 73 of file laser_ortho_projector.h.

tf_broadcaster_

tf::TransformBroadcaster scan_tools::LaserOrthoProjector::tf_broadcaster_

private

Definition at line 78 of file laser_ortho_projector.h.

tf_listener_

tf::TransformListener scan_tools::LaserOrthoProjector::tf_listener_

private

Definition at line 77 of file laser_ortho_projector.h.

use_imu_

bool scan_tools::LaserOrthoProjector::use_imu_

private

Definition at line 88 of file laser_ortho_projector.h.

use_pose_

bool scan_tools::LaserOrthoProjector::use_pose_

private

Definition at line 87 of file laser_ortho_projector.h.

world_frame_

std::string scan_tools::LaserOrthoProjector::world_frame_

private

Definition at line 82 of file laser_ortho_projector.h.

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

• laser_ortho_projector.h
• laser_ortho_projector.cpp