.. _program_listing_file__tmp_ws_src_velodyne_velodyne_laserscan_include_velodyne_laserscan_velodyne_laserscan.hpp:

Program Listing for File velodyne_laserscan.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_velodyne_velodyne_laserscan_include_velodyne_laserscan_velodyne_laserscan.hpp>` (``/tmp/ws/src/velodyne/velodyne_laserscan/include/velodyne_laserscan/velodyne_laserscan.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2018, 2019 Kevin Hallenbeck, Joshua Whitley
   // All rights reserved.
   //
   // Software License Agreement (BSD License 2.0)
   //
   // 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 {copyright_holder} 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 INTERRUPTION) HOWEVER
   // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   #ifndef VELODYNE_LASERSCAN__VELODYNE_LASERSCAN_HPP_
   #define VELODYNE_LASERSCAN__VELODYNE_LASERSCAN_HPP_
   
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/laser_scan.hpp>
   #include <sensor_msgs/msg/point_cloud2.hpp>
   
   namespace velodyne_laserscan
   {
   
   class VelodyneLaserScan final
     : public rclcpp::Node
   {
   public:
     explicit VelodyneLaserScan(const rclcpp::NodeOptions & options);
     ~VelodyneLaserScan() override {}
     VelodyneLaserScan(VelodyneLaserScan && c) = delete;
     VelodyneLaserScan & operator=(VelodyneLaserScan && c) = delete;
     VelodyneLaserScan(const VelodyneLaserScan & c) = delete;
     VelodyneLaserScan & operator=(const VelodyneLaserScan & c) = delete;
   
   private:
     void recvCallback(const sensor_msgs::msg::PointCloud2::SharedPtr msg);
   
     rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_;
     rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr pub_;
   
     uint16_t ring_count_{0};
     int ring_;
     double resolution_;
   };
   
   }  // namespace velodyne_laserscan
   
   #endif  // VELODYNE_LASERSCAN__VELODYNE_LASERSCAN_HPP_