LaserProc.h
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00001 /*
00002  * Copyright (c) 2013, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* 
00031  * Author: Chad Rockey
00032  */
00033 
00034 #ifndef LASER_PROC_H
00035 #define LASER_PROC_H
00036 
00037 #include <sensor_msgs/LaserScan.h>
00038 #include <sensor_msgs/MultiEchoLaserScan.h>
00039 #include <sensor_msgs/LaserEcho.h>
00040 
00041 #include <vector>
00042 #include <algorithm>
00043 #include <limits.h>
00044 #include <stdexcept>
00045 #include <sstream>
00046 
00047 namespace laser_proc
00048 { 
00049   class LaserProc
00050   {
00051 
00052   public:
00053 
00054     static sensor_msgs::LaserScanPtr getFirstScan(const sensor_msgs::MultiEchoLaserScan& msg);
00055 
00056     static sensor_msgs::LaserScanPtr getLastScan(const sensor_msgs::MultiEchoLaserScan& msg);
00057 
00058     static sensor_msgs::LaserScanPtr getMostIntenseScan(const sensor_msgs::MultiEchoLaserScan& msg);
00059 
00060   private:
00061 
00062     static void fillLaserScan(const sensor_msgs::MultiEchoLaserScan& msg, sensor_msgs::LaserScan& out);
00063 
00064     static size_t getFirstValue(const sensor_msgs::LaserEcho& ranges, float& range);
00065 
00066     static size_t getLastValue(const sensor_msgs::LaserEcho& ranges, float& range);
00067 
00068     static void getMostIntenseValue(const sensor_msgs::LaserEcho& ranges, const sensor_msgs::LaserEcho& intensities, float& range, float& intensity);
00069 
00070   };
00071   
00072   
00073 }; // laser_proc
00074 
00075 #endif


laser_proc
Author(s): Chad Rockey
autogenerated on Thu Aug 27 2015 13:47:25