convert.h
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00001 /* -*- mode: C++ -*- */
00002 /*
00003  *  Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
00004  *  Copyright (C) 2011 Jesse Vera
00005  *  Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
00006  *  License: Modified BSD Software License Agreement
00007  *
00008  *  $Id$
00009  */
00010 
00017 #ifndef _VELODYNE_POINTCLOUD_CONVERT_H_
00018 #define _VELODYNE_POINTCLOUD_CONVERT_H_ 1
00019 
00020 #include <ros/ros.h>
00021 
00022 #include <sensor_msgs/PointCloud2.h>
00023 #include <velodyne_pointcloud/rawdata.h>
00024 
00025 namespace velodyne_pointcloud
00026 {
00027   class Convert
00028   {
00029   public:
00030 
00031     Convert(ros::NodeHandle node, ros::NodeHandle private_nh);
00032     ~Convert() {}
00033 
00034   private:
00035 
00036     void processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg);
00037 
00038     boost::shared_ptr<velodyne_rawdata::RawData> data_;
00039     ros::Subscriber velodyne_scan_;
00040     ros::Publisher output_;
00041 
00043     typedef struct {
00044       int npackets;                    
00045     } Config;
00046     Config config_;
00047   };
00048 
00049 } // namespace velodyne_pointcloud
00050 
00051 #endif // _VELODYNE_POINTCLOUD_CONVERT_H_


velodyne_pointcloud
Author(s): Jack O'Quin, Piyush Khandelwal, Jesse Vera
autogenerated on Fri Jan 3 2014 12:11:12