pcl::PCDGrabberBase Class Reference

Base class for PCD file grabber. More...

#include <pcd_grabber.h>

Inheritance diagram for pcl::PCDGrabberBase:

List of all members.

Classes
struct	PCDGrabberImpl
Public Member Functions
virtual float	getFramesPerSecond () const
	Returns the frames_per_second. 0 if grabber is trigger-based.
virtual std::string	getName () const
bool	isRepeatOn () const
	Returns whether the repeat flag is on.
virtual bool	isRunning () const
	whether the grabber is started (publishing) or not.
PCDGrabberBase &	operator= (const PCDGrabberBase &src)
	Copy operator.
	PCDGrabberBase (const std::string &pcd_file, float frames_per_second, bool repeat)
	Constructor taking just one PCD file or one TAR file containing multiple PCD files.
	PCDGrabberBase (const std::vector< std::string > &pcd_files, float frames_per_second, bool repeat)
	Constructor taking a list of paths to PCD files, that are played in the order they appear in the list.
	PCDGrabberBase (const PCDGrabberBase &src)
	Copy constructor.
virtual void	rewind ()
	Rewinds to the first PCD file in the list.
virtual void	start ()
	Starts playing the list of PCD files if frames_per_second is > 0. Otherwise it works as a trigger: publishes only the next PCD file in the list.
virtual void	stop ()
	Stops playing the list of PCD files if frames_per_second is > 0. Otherwise the method has no effect.
virtual void	trigger ()
	Triggers a callback with new data.
virtual	~PCDGrabberBase () throw ()
	Virtual destructor.
Private Member Functions
virtual void	publish (const sensor_msgs::PointCloud2 &blob, const Eigen::Vector4f &origin, const Eigen::Quaternionf &orientation) const =0
Private Attributes
PCDGrabberImpl *	impl_

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Detailed Description

Base class for PCD file grabber.

Definition at line 58 of file pcd_grabber.h.

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Constructor & Destructor Documentation

pcl::PCDGrabberBase::PCDGrabberBase	(	const std::string &	pcd_file,
		float	frames_per_second,
		bool	repeat
	)

Constructor taking just one PCD file or one TAR file containing multiple PCD files.

Parameters:

[in]	pcd_file	path to the PCD file
[in]	frames_per_second	frames per second. If 0, start() functions like a trigger, publishing the next PCD in the list.
[in]	repeat	whether to play PCD file in an endless loop or not.

Definition at line 269 of file pcd_grabber.cpp.

pcl::PCDGrabberBase::PCDGrabberBase	(	const std::vector< std::string > &	pcd_files,
		float	frames_per_second,
		bool	repeat
	)

Constructor taking a list of paths to PCD files, that are played in the order they appear in the list.

Parameters:

[in]	pcd_files	vector of paths to PCD files.
[in]	frames_per_second	frames per second. If 0, start() functions like a trigger, publishing the next PCD in the list.
[in]	repeat	whether to play PCD file in an endless loop or not.

Definition at line 275 of file pcd_grabber.cpp.

pcl::PCDGrabberBase::PCDGrabberBase

(

const PCDGrabberBase &

src

)

[inline]

Copy constructor.

Parameters:

[in]

src

the PCD Grabber base object to copy into this

Definition at line 78 of file pcd_grabber.h.

pcl::PCDGrabberBase::~PCDGrabberBase

(

)

throw () [virtual]

Virtual destructor.

Definition at line 281 of file pcd_grabber.cpp.

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Member Function Documentation

float pcl::PCDGrabberBase::getFramesPerSecond

(

)

const [virtual]

Returns the frames_per_second. 0 if grabber is trigger-based.

Implements pcl::Grabber.

Definition at line 343 of file pcd_grabber.cpp.

std::string pcl::PCDGrabberBase::getName

(

)

const [virtual]

Returns:

The name of the grabber

Implements pcl::Grabber.

Definition at line 329 of file pcd_grabber.cpp.

bool pcl::PCDGrabberBase::isRepeatOn

(

)

const

Returns whether the repeat flag is on.

Definition at line 350 of file pcd_grabber.cpp.

bool pcl::PCDGrabberBase::isRunning

(

)

const [virtual]

whether the grabber is started (publishing) or not.

Returns:

true only if publishing.

Implements pcl::Grabber.

Definition at line 322 of file pcd_grabber.cpp.

PCDGrabberBase& pcl::PCDGrabberBase::operator=

(

const PCDGrabberBase &

src

)

[inline]

Copy operator.

Parameters:

[in]

src

the PCD Grabber base object to copy into this

Definition at line 87 of file pcd_grabber.h.

virtual void pcl::PCDGrabberBase::publish	(	const sensor_msgs::PointCloud2 &	blob,
		const Eigen::Vector4f &	origin,
		const Eigen::Quaternionf &	orientation
	)		const [private, pure virtual]

Implemented in pcl::PCDGrabber< PointT >.

void pcl::PCDGrabberBase::rewind

(

)

[virtual]

Rewinds to the first PCD file in the list.

Definition at line 336 of file pcd_grabber.cpp.

void pcl::PCDGrabberBase::start

(

)

[virtual]

Starts playing the list of PCD files if frames_per_second is > 0. Otherwise it works as a trigger: publishes only the next PCD file in the list.

Implements pcl::Grabber.

Definition at line 289 of file pcd_grabber.cpp.

void pcl::PCDGrabberBase::stop

(

)

[virtual]

Stops playing the list of PCD files if frames_per_second is > 0. Otherwise the method has no effect.

Implements pcl::Grabber.

Definition at line 302 of file pcd_grabber.cpp.

void pcl::PCDGrabberBase::trigger

(

)

[virtual]

Triggers a callback with new data.

Definition at line 313 of file pcd_grabber.cpp.

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Member Data Documentation

PCDGrabberImpl* pcl::PCDGrabberBase::impl_ [private]

Definition at line 135 of file pcd_grabber.h.

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

• pcd_grabber.h
• pcd_grabber.cpp