A compound publisher for the driver's topics. More...

#include <compound_publisher.h>

Public Member Functions
	CompoundPublisher ()

void	publish (const std_msgs::Header &header, visionary::SafeVisionaryData &frame_data)
	Publish once with all registered publishers. More...

virtual	~CompoundPublisher ()

Private Member Functions
void	publishCameraInfo (const std_msgs::Header &header, const visionary::SafeVisionaryData &frame_data)
	Publishes the camera information of the sensor. More...

void	publishDepthImage (const std_msgs::Header &header, const visionary::SafeVisionaryData &frame_data)
	Publishes the raw depth image. More...

void	publishDeviceStatus (const std_msgs::Header &header, const visionary::SafeVisionaryData &frame_data)
	Publishes the device status. More...

void	publishFieldInformation (const std_msgs::Header &header, const visionary::SafeVisionaryData &frame_data)
	Publishes the evaluation of the configured safety fields. More...

void	publishIMUData (const std_msgs::Header &header, const visionary::SafeVisionaryData &frame_data)
	Publishes the values of the IMU. More...

void	publishIntensityImage (const std_msgs::Header &header, const visionary::SafeVisionaryData &frame_data)
	Publishes the raw intensity image. More...

void	publishIOs (const std_msgs::Header &header, const visionary::SafeVisionaryData &frame_data)
	Publishes the state of the IO ports. More...

void	publishPointCloud (const std_msgs::Header &header, visionary::SafeVisionaryData &frame_data)
	Publishes the generated 3D Pointcloud. More...

void	publishROI (const std_msgs::Header &header, const visionary::SafeVisionaryData &frame_data)
	Publishes the regions of interest. More...

void	publishStateMap (const std_msgs::Header &header, const visionary::SafeVisionaryData &frame_data)
	Publishes the raw state map of each pixel. More...

sensor_msgs::ImagePtr	Vec16ToImage (const std_msgs::Header &header, const visionary::SafeVisionaryData &frame_data, std::vector< uint16_t > vec)
	Creates an image from a data vector. More...

sensor_msgs::ImagePtr	Vec8ToImage (const std_msgs::Header &header, const visionary::SafeVisionaryData &frame_data, std::vector< uint8_t > vec)
	Creates an image from a data vector. More...

Detailed Description

A compound publisher for the driver's topics.

This class encapsulates all necessary publishers to keep the driver's thread management nice and clear.

Definition at line 61 of file compound_publisher.h.

Constructor & Destructor Documentation

◆ CompoundPublisher()

CompoundPublisher::CompoundPublisher ( )

Definition at line 34 of file compound_publisher.cpp.

◆ ~CompoundPublisher()

virtual CompoundPublisher::~CompoundPublisher ( )

inlinevirtual

Definition at line 65 of file compound_publisher.h.

Member Function Documentation

◆ publish()

void CompoundPublisher::publish	(	const std_msgs::Header &	header,
		visionary::SafeVisionaryData &	frame_data
	)

Publish once with all registered publishers.

Parameters

header	Header for this data
frame_data	The sensor's data to publish

Definition at line 53 of file compound_publisher.cpp.

◆ publishCameraInfo()

void CompoundPublisher::publishCameraInfo	(	const std_msgs::Header &	header,
		const visionary::SafeVisionaryData &	frame_data
	)

private

Publishes the camera information of the sensor.

Parameters

header	Header for this data
frame_data	The sensor's data to publish

Definition at line 98 of file compound_publisher.cpp.

◆ publishDepthImage()

void CompoundPublisher::publishDepthImage	(	const std_msgs::Header &	header,
		const visionary::SafeVisionaryData &	frame_data
	)

private

Publishes the raw depth image.

Parameters

header	Header for this data
frame_data	The sensor's data to publish

Definition at line 200 of file compound_publisher.cpp.

◆ publishDeviceStatus()

void CompoundPublisher::publishDeviceStatus	(	const std_msgs::Header &	header,
		const visionary::SafeVisionaryData &	frame_data
	)

private

Publishes the device status.

Parameters

header	Header for this data
frame_data	The sensor's data to publish

Definition at line 237 of file compound_publisher.cpp.

◆ publishFieldInformation()

void CompoundPublisher::publishFieldInformation	(	const std_msgs::Header &	header,
		const visionary::SafeVisionaryData &	frame_data
	)

private

Publishes the evaluation of the configured safety fields.

Parameters

header	Header for this data
frame_data	The sensor's data to publish

Definition at line 363 of file compound_publisher.cpp.

◆ publishIMUData()

void CompoundPublisher::publishIMUData	(	const std_msgs::Header &	header,
		const visionary::SafeVisionaryData &	frame_data
	)

private

Publishes the values of the IMU.

Parameters

header	Header for this data
frame_data	The sensor's data to publish

Definition at line 182 of file compound_publisher.cpp.

◆ publishIntensityImage()

void CompoundPublisher::publishIntensityImage	(	const std_msgs::Header &	header,
		const visionary::SafeVisionaryData &	frame_data
	)

private

Publishes the raw intensity image.

Parameters

header	Header for this data
frame_data	The sensor's data to publish

Definition at line 206 of file compound_publisher.cpp.

◆ publishIOs()

void CompoundPublisher::publishIOs	(	const std_msgs::Header &	header,
		const visionary::SafeVisionaryData &	frame_data
	)

private

Publishes the state of the IO ports.

Parameters

header	Header for this data
frame_data	The sensor's data to publish

Definition at line 276 of file compound_publisher.cpp.

◆ publishPointCloud()

void CompoundPublisher::publishPointCloud	(	const std_msgs::Header &	header,
		visionary::SafeVisionaryData &	frame_data
	)

private

Publishes the generated 3D Pointcloud.

Parameters

header	Header for this data
frame_data	The sensor's data to publish

Definition at line 122 of file compound_publisher.cpp.

◆ publishROI()

void CompoundPublisher::publishROI	(	const std_msgs::Header &	header,
		const visionary::SafeVisionaryData &	frame_data
	)

private

Publishes the regions of interest.

Parameters

header	Header for this data
frame_data	The sensor's data to publish

Definition at line 326 of file compound_publisher.cpp.

◆ publishStateMap()

void CompoundPublisher::publishStateMap	(	const std_msgs::Header &	header,
		const visionary::SafeVisionaryData &	frame_data
	)

private

Publishes the raw state map of each pixel.

Parameters

header	Header for this data
frame_data	The sensor's data to publish

Definition at line 212 of file compound_publisher.cpp.

◆ Vec16ToImage()

sensor_msgs::ImagePtr CompoundPublisher::Vec16ToImage	(	const std_msgs::Header &	header,
		const visionary::SafeVisionaryData &	frame_data,
		std::vector< uint16_t >	vec
	)

private

Creates an image from a data vector.

Parameters

header	Header for this data
frame_data	The sensor's data to publish
vec	The converted data vector

Returns: Image projection of input data vector

Definition at line 219 of file compound_publisher.cpp.

◆ Vec8ToImage()

sensor_msgs::ImagePtr CompoundPublisher::Vec8ToImage	(	const std_msgs::Header &	header,
		const visionary::SafeVisionaryData &	frame_data,
		std::vector< uint8_t >	vec
	)

private

Creates an image from a data vector.

Parameters

header	Header for this data
frame_data	The sensor's data to publish
vec	The converted data vector

Returns: Image projection of input data vector

Definition at line 227 of file compound_publisher.cpp.

Member Data Documentation

◆ camera_info_pub_

ros::Publisher CompoundPublisher::camera_info_pub_

private

Definition at line 178 of file compound_publisher.h.

◆ depth_pub_

image_transport::Publisher CompoundPublisher::depth_pub_

private

Definition at line 186 of file compound_publisher.h.

◆ device_status_pub_

ros::Publisher CompoundPublisher::device_status_pub_

private

Definition at line 181 of file compound_publisher.h.

◆ field_pub_

ros::Publisher CompoundPublisher::field_pub_

private

Definition at line 184 of file compound_publisher.h.

◆ imu_pub_

ros::Publisher CompoundPublisher::imu_pub_

private

Definition at line 180 of file compound_publisher.h.

◆ intensity_pub_

image_transport::Publisher CompoundPublisher::intensity_pub_

private

Definition at line 187 of file compound_publisher.h.

◆ io_pub_

ros::Publisher CompoundPublisher::io_pub_

private

Definition at line 182 of file compound_publisher.h.

◆ pointcloud_pub_

ros::Publisher CompoundPublisher::pointcloud_pub_

private

Definition at line 179 of file compound_publisher.h.

◆ priv_nh_

ros::NodeHandle CompoundPublisher::priv_nh_

private

Definition at line 189 of file compound_publisher.h.

◆ roi_pub_

ros::Publisher CompoundPublisher::roi_pub_

private

Definition at line 183 of file compound_publisher.h.

◆ state_pub_

image_transport::Publisher CompoundPublisher::state_pub_

private

Definition at line 188 of file compound_publisher.h.

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

Private Attributes
ros::Publisher	camera_info_pub_

image_transport::Publisher	depth_pub_

ros::Publisher	device_status_pub_

ros::Publisher	field_pub_

ros::Publisher	imu_pub_

image_transport::Publisher	intensity_pub_

ros::Publisher	io_pub_

ros::Publisher	pointcloud_pub_

ros::NodeHandle	priv_nh_

ros::Publisher	roi_pub_

image_transport::Publisher	state_pub_

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CompoundPublisher()

◆ ~CompoundPublisher()

Member Function Documentation

◆ publish()

◆ publishCameraInfo()

◆ publishDepthImage()

◆ publishDeviceStatus()

◆ publishFieldInformation()

◆ publishIMUData()

◆ publishIntensityImage()

◆ publishIOs()

◆ publishPointCloud()

◆ publishROI()

◆ publishStateMap()

◆ Vec16ToImage()

◆ Vec8ToImage()

Member Data Documentation

◆ camera_info_pub_

◆ depth_pub_

◆ device_status_pub_

◆ field_pub_

◆ imu_pub_

◆ intensity_pub_

◆ io_pub_

◆ pointcloud_pub_

◆ priv_nh_

◆ roi_pub_

◆ state_pub_