Program Listing for File laser_proc.hpp
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/*
* Copyright (c) 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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*/
/*
* Author: Chad Rockey
*/
#ifndef LASER_PROC__LASER_PROC_HPP_
#define LASER_PROC__LASER_PROC_HPP_
#include "sensor_msgs/msg/laser_echo.hpp"
#include "sensor_msgs/msg/laser_scan.hpp"
#include "sensor_msgs/msg/multi_echo_laser_scan.hpp"
#include "visibility_control.hpp"
namespace laser_proc
{
class LaserProc
{
public:
LASER_PROC_PUBLIC
static sensor_msgs::msg::LaserScan getFirstScan(
const sensor_msgs::msg::MultiEchoLaserScan & msg);
LASER_PROC_PUBLIC
static sensor_msgs::msg::LaserScan getLastScan(
const sensor_msgs::msg::MultiEchoLaserScan & msg);
LASER_PROC_PUBLIC
static sensor_msgs::msg::LaserScan getMostIntenseScan(
const sensor_msgs::msg::MultiEchoLaserScan & msg);
private:
static void fillLaserScan(
const sensor_msgs::msg::MultiEchoLaserScan & msg, sensor_msgs::msg::LaserScan & out);
static size_t getFirstValue(
const sensor_msgs::msg::LaserEcho & ranges, float & range);
static size_t getLastValue(
const sensor_msgs::msg::LaserEcho & ranges, float & range);
static void getMostIntenseValue(
const sensor_msgs::msg::LaserEcho & ranges,
const sensor_msgs::msg::LaserEcho & intensities,
float & range,
float & intensity);
};
} // namespace laser_proc
#endif // LASER_PROC__LASER_PROC_HPP_