srs_ui_but::PointCloudTools Class Reference

This class gathers actual point cloud data and provides method which returns closest point from a specified link. More...

#include <point_cloud_tools.h>

List of all members.

Public Member Functions
srs_ui_but::ClosestPoint	getClosestPoint (std::string link)
	This function calculates closest point from a robot link from latest point cloud.
std::string	getPointCloudTopic ()
	This function gets the Point Cloud 2 topic.
	PointCloudTools ()
	Constructor.
void	setPointCloudTopic (std::string topic)
	This function sets Point Cloud 2 topic to get closest points from it.
virtual	~PointCloudTools ()
	Destructor.
Private Member Functions
void	incomingCloudCallback (const sensor_msgs::PointCloud2ConstPtr &cloud)
	Callback function for handling incoming point cloud data.
Private Attributes
srs_ui_but::ClosestPoint	closestPoint
tf::StampedTransform	linkToSensorTf
pcl::PointCloud< pcl::PointXYZ >	pcl_pointCloud
message_filters::Subscriber < sensor_msgs::PointCloud2 >	point_cloud
ros::Time	pointCloud_stamp
tf::StampedTransform	sensorToLinkTf
tf::TransformListener *	tfListener
ros::NodeHandle	threaded_nh_
std::string	topic_
tf::MessageFilter < sensor_msgs::PointCloud2 > *	transform_filter
tf::Transformer	transformer

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Detailed Description

This class gathers actual point cloud data and provides method which returns closest point from a specified link.

Author:

Tomas Lokaj

Definition at line 57 of file point_cloud_tools.h.

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Constructor & Destructor Documentation

srs_ui_but::PointCloudTools::PointCloudTools

(

)

Constructor.

Definition at line 36 of file point_cloud_tools.cpp.

virtual srs_ui_but::PointCloudTools::~PointCloudTools

(

)

[inline, virtual]

Destructor.

Definition at line 67 of file point_cloud_tools.h.

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Member Function Documentation

srs_ui_but::ClosestPoint srs_ui_but::PointCloudTools::getClosestPoint

(

std::string

link

)

This function calculates closest point from a robot link from latest point cloud.

Parameters:

link	is robot link from which we want to get the closest point

Definition at line 56 of file point_cloud_tools.cpp.

std::string srs_ui_but::PointCloudTools::getPointCloudTopic

(

)

[inline]

This function gets the Point Cloud 2 topic.

Returns:

point cloud topic

Definition at line 93 of file point_cloud_tools.h.

void srs_ui_but::PointCloudTools::incomingCloudCallback

(

const sensor_msgs::PointCloud2ConstPtr &

cloud

)

[private]

Callback function for handling incoming point cloud data.

Parameters:

cloud

is incoming point cloud

Definition at line 47 of file point_cloud_tools.cpp.

void srs_ui_but::PointCloudTools::setPointCloudTopic

(

std::string

topic

)

[inline]

This function sets Point Cloud 2 topic to get closest points from it.

Parameters:

topic

is Point Cloud 2 topic

Definition at line 81 of file point_cloud_tools.h.

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Member Data Documentation

srs_ui_but::ClosestPoint srs_ui_but::PointCloudTools::closestPoint [private]

Definition at line 112 of file point_cloud_tools.h.

tf::StampedTransform srs_ui_but::PointCloudTools::linkToSensorTf [private]

Definition at line 118 of file point_cloud_tools.h.

pcl::PointCloud<pcl::PointXYZ> srs_ui_but::PointCloudTools::pcl_pointCloud [private]

Definition at line 106 of file point_cloud_tools.h.

message_filters::Subscriber<sensor_msgs::PointCloud2> srs_ui_but::PointCloudTools::point_cloud [private]

Definition at line 130 of file point_cloud_tools.h.

ros::Time srs_ui_but::PointCloudTools::pointCloud_stamp [private]

Definition at line 109 of file point_cloud_tools.h.

tf::StampedTransform srs_ui_but::PointCloudTools::sensorToLinkTf [private]

Definition at line 118 of file point_cloud_tools.h.

tf::TransformListener* srs_ui_but::PointCloudTools::tfListener [private]

Definition at line 124 of file point_cloud_tools.h.

ros::NodeHandle srs_ui_but::PointCloudTools::threaded_nh_ [private]

Definition at line 127 of file point_cloud_tools.h.

std::string srs_ui_but::PointCloudTools::topic_ [private]

Definition at line 133 of file point_cloud_tools.h.

tf::MessageFilter<sensor_msgs::PointCloud2>* srs_ui_but::PointCloudTools::transform_filter [private]

Definition at line 121 of file point_cloud_tools.h.

tf::Transformer srs_ui_but::PointCloudTools::transformer [private]

Definition at line 115 of file point_cloud_tools.h.

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

• point_cloud_tools.h
• point_cloud_tools.cpp