PointcloudPublisher Class Reference

#include <point_cloud_publisher.h>

Inheritance diagram for PointcloudPublisher:

Public Member Functions
	PointcloudPublisher (std::shared_ptr< ScanConfig > config, std::shared_ptr< ScanParameters > params, const std::string &scan_topic, const std::string &frame_id, const uint16_t num_layers, const std::string &part)
Public Member Functions inherited from PFDataPublisher
	PFDataPublisher (std::shared_ptr< ScanConfig > config, std::shared_ptr< ScanParameters > params)
virtual void	read (PFR2000Packet_A &packet)
virtual void	read (PFR2000Packet_B &packet)
virtual void	read (PFR2000Packet_C &packet)
virtual void	read (PFR2300Packet_C1 &packet)
virtual bool	start ()
virtual bool	stop ()
Public Member Functions inherited from PFPacketReader
virtual void	read (std::shared_ptr< PFPacket > packet)
Public Member Functions inherited from Reader< PFPacket >
virtual void	set_scan_params (ScanParameters params)
virtual void	set_scanoutput_config (ScanConfig config)

Private Member Functions
void	add_pointcloud (sensor_msgs::PointCloud2 &c1, sensor_msgs::PointCloud2 c2)
void	copy_pointcloud (sensor_msgs::PointCloud2 &c1, sensor_msgs::PointCloud2 c2)
virtual void	handle_scan (sensor_msgs::LaserScanPtr msg, uint16_t layer_idx, int layer_inclination, bool apply_correction)
void	project_laser (sensor_msgs::PointCloud2 &c, sensor_msgs::LaserScanPtr msg, const int layer_inclination)
void	publish_scan (sensor_msgs::LaserScanPtr msg, uint16_t idx)
void	publish_static_transform (const std::string &parent, const std::string &child, int inclination_angle)
virtual void	resetCurrentScans ()

Private Attributes
std::vector< int >	angles_
sensor_msgs::PointCloud2Ptr	cloud_
std::map< int, std::vector< double > >	correction_params_
std::vector< std::string >	frame_ids_
int16_t	layer_prev_
ros::Publisher	pcl_publisher_
laser_geometry::LaserProjection	projector_
std::vector< ros::Publisher >	scan_publishers_
tf2_ros::StaticTransformBroadcaster	static_broadcaster_
tf::TransformListener	tfListener_

Additional Inherited Members
Protected Member Functions inherited from PFDataPublisher
bool	check_status (uint32_t status_flags)
template<typename T >
void	to_msg_queue (T &packet, uint16_t layer_idx=0, int layer_inclination=0)
Protected Attributes inherited from PFDataPublisher
std::shared_ptr< ScanConfig >	config_
std::deque< sensor_msgs::LaserScanPtr >	d_queue_
std::string	frame_id_
ros::Publisher	header_publisher_
ros::NodeHandle	nh_
std::shared_ptr< ScanParameters >	params_
std::mutex	q_mutex_

Detailed Description

Definition at line 10 of file point_cloud_publisher.h.

Constructor & Destructor Documentation

PointcloudPublisher()

PointcloudPublisher::PointcloudPublisher	(	std::shared_ptr< ScanConfig >	config,
		std::shared_ptr< ScanParameters >	params,
		const std::string &	scan_topic,
		const std::string &	frame_id,
		const uint16_t	num_layers,
		const std::string &	part
	)

Definition at line 7 of file point_cloud_publisher.cpp.

Member Function Documentation

add_pointcloud()

void PointcloudPublisher::add_pointcloud ( sensor_msgs::PointCloud2 &  c1, sensor_msgs::PointCloud2  c2  )

private

Definition at line 135 of file point_cloud_publisher.cpp.

copy_pointcloud()

void PointcloudPublisher::copy_pointcloud ( sensor_msgs::PointCloud2 &  c1, sensor_msgs::PointCloud2  c2  )

private

Definition at line 122 of file point_cloud_publisher.cpp.

handle_scan()

void PointcloudPublisher::handle_scan ( sensor_msgs::LaserScanPtr  msg, uint16_t  layer_idx, int  layer_inclination, bool  apply_correction  )

privatevirtual

Implements PFDataPublisher.

Definition at line 85 of file point_cloud_publisher.cpp.

project_laser()

void PointcloudPublisher::project_laser ( sensor_msgs::PointCloud2 &  c, sensor_msgs::LaserScanPtr  msg, const int  layer_inclination  )

private

Definition at line 152 of file point_cloud_publisher.cpp.

publish_scan()

void PointcloudPublisher::publish_scan ( sensor_msgs::LaserScanPtr  msg, uint16_t  idx  )

private

Definition at line 79 of file point_cloud_publisher.cpp.

publish_static_transform()

void PointcloudPublisher::publish_static_transform ( const std::string &  parent, const std::string &  child, int  inclination_angle  )

private

Definition at line 56 of file point_cloud_publisher.cpp.

resetCurrentScans()

void PointcloudPublisher::resetCurrentScans ( )

privatevirtual

Reimplemented from PFDataPublisher.

Definition at line 50 of file point_cloud_publisher.cpp.

Member Data Documentation

angles_

std::vector<int> PointcloudPublisher::angles_

private

Definition at line 27 of file point_cloud_publisher.h.

cloud_

sensor_msgs::PointCloud2Ptr PointcloudPublisher::cloud_

private

Definition at line 18 of file point_cloud_publisher.h.

correction_params_

std::map<int, std::vector<double> > PointcloudPublisher::correction_params_

private

Definition at line 23 of file point_cloud_publisher.h.

frame_ids_

std::vector<std::string> PointcloudPublisher::frame_ids_

private

Definition at line 25 of file point_cloud_publisher.h.

layer_prev_

int16_t PointcloudPublisher::layer_prev_

private

Definition at line 22 of file point_cloud_publisher.h.

pcl_publisher_

ros::Publisher PointcloudPublisher::pcl_publisher_

private

Definition at line 21 of file point_cloud_publisher.h.

projector_

laser_geometry::LaserProjection PointcloudPublisher::projector_

private

Definition at line 20 of file point_cloud_publisher.h.

scan_publishers_

std::vector<ros::Publisher> PointcloudPublisher::scan_publishers_

private

Definition at line 24 of file point_cloud_publisher.h.

static_broadcaster_

tf2_ros::StaticTransformBroadcaster PointcloudPublisher::static_broadcaster_

private

Definition at line 26 of file point_cloud_publisher.h.

tfListener_

tf::TransformListener PointcloudPublisher::tfListener_

private

Definition at line 19 of file point_cloud_publisher.h.

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

• point_cloud_publisher.h
• point_cloud_publisher.cpp