Classes | Public Member Functions | Private Member Functions | Private Attributes
velodyne_rawdata::RawData Class Reference

Velodyne data conversion class. More...

#include <rawdata.h>

List of all members.

Classes

struct  Config

Public Member Functions

 RawData ()
int setup (ros::NodeHandle private_nh)
 Set up for data processing.
void unpack (const velodyne_msgs::VelodynePacket &pkt, VPointCloud &pc)
 convert raw packet to point cloud
 ~RawData ()

Private Member Functions

bool pointInRange (float range)

Private Attributes

velodyne_pointcloud::Calibration calibration_
Config config_
float cos_rot_table_ [ROTATION_MAX_UNITS]
float sin_rot_table_ [ROTATION_MAX_UNITS]

Detailed Description

Velodyne data conversion class.

Definition at line 112 of file rawdata.h.


Constructor & Destructor Documentation

Definition at line 44 of file rawdata.cc.

Definition at line 117 of file rawdata.h.


Member Function Documentation

bool velodyne_rawdata::RawData::pointInRange ( float  range) [inline, private]

in-line test whether a point is in range

Definition at line 152 of file rawdata.h.

Set up for data processing.

Perform initializations needed before data processing can begin:

  • read device-specific angles calibration
Parameters:
private_nhprivate node handle for ROS parameters
Returns:
0 if successful; errno value for failure

Set up for on-line operation.

Definition at line 47 of file rawdata.cc.

convert raw packet to point cloud

Parameters:
pktraw packet to unpack
pcshared pointer to point cloud (points are appended)

< hardware laser number

Position Calculation

Use standard ROS coordinate system (right-hand rule)

Intensity Calculation

Definition at line 89 of file rawdata.cc.


Member Data Documentation

Calibration file

Definition at line 147 of file rawdata.h.

Definition at line 142 of file rawdata.h.

Definition at line 149 of file rawdata.h.

Definition at line 148 of file rawdata.h.


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


velodyne_pointcloud
Author(s): Jack O'Quin, Piyush Khandelwal, Jesse Vera
autogenerated on Mon Oct 6 2014 08:36:38