#include <urg_c_wrapper.h>

Public Member Functions
ros::Duration	computeLatency (size_t num_measurements)
double	getAngleIncrement () const
double	getAngleMax () const
double	getAngleMaxLimit () const
double	getAngleMin () const
double	getAngleMinLimit () const
ros::Duration	getComputedLatency () const
std::string	getDeviceID ()
std::string	getFirmwareDate ()
std::string	getFirmwareVersion ()
std::string	getIPAddress () const
int	getIPPort () const
std::string	getProductName ()
std::string	getProtocolVersion ()
double	getRangeMax () const
double	getRangeMin () const
double	getScanPeriod () const
std::string	getSensorState ()
std::string	getSensorStatus ()
int	getSerialBaud () const
std::string	getSerialPort () const
double	getTimeIncrement () const
ros::Duration	getUserTimeOffset () const
std::string	getVendorName ()
bool	grabScan (const sensor_msgs::LaserScanPtr &msg)
bool	grabScan (const sensor_msgs::MultiEchoLaserScanPtr &msg)
bool	isStarted () const
bool	setAngleLimitsAndCluster (double &angle_min, double &angle_max, int cluster)
void	setFrameId (const std::string &frame_id)
bool	setSkip (int skip)
void	setUserLatency (const double latency)
void	start ()
void	stop ()
	URGCWrapper (const std::string &ip_address, const int ip_port, bool &using_intensity, bool &using_multiecho)
	URGCWrapper (const int serial_baud, const std::string &serial_port, bool &using_intensity, bool &using_multiecho)
	~URGCWrapper ()
Private Member Functions
ros::Duration	getAngularTimeOffset () const
ros::Duration	getNativeClockOffset (size_t num_measurements)
ros::Duration	getTimeStampOffset (size_t num_measurements)
void	initialize (bool &using_intensity, bool &using_multiecho)
bool	isIntensitySupported ()
bool	isMultiEchoSupported ()
Private Attributes
int	cluster_
std::vector< long >	data_
int	first_step_
std::string	frame_id_
	Output frame_id for each laserscan.
std::vector< unsigned short >	intensity_
std::string	ip_address_
int	ip_port_
int	last_step_
urg_measurement_type_t	measurement_type_
int	serial_baud_
std::string	serial_port_
int	skip_
bool	started_
ros::Duration	system_latency_
urg_t	urg_
bool	use_intensity_
bool	use_multiecho_
ros::Duration	user_latency_

Detailed Description

Definition at line 49 of file urg_c_wrapper.h.

Constructor & Destructor Documentation

URGCWrapper::URGCWrapper	(	const std::string &	ip_address,
		const int	ip_port,
		bool &	using_intensity,
		bool &	using_multiecho
	)

Definition at line 38 of file urg_c_wrapper.cpp.

URGCWrapper::URGCWrapper	(	const int	serial_baud,
		const std::string &	serial_port,
		bool &	using_intensity,
		bool &	using_multiecho
	)

Definition at line 61 of file urg_c_wrapper.cpp.

URGCWrapper::~URGCWrapper ( )

Definition at line 143 of file urg_c_wrapper.cpp.

Member Function Documentation

ros::Duration URGCWrapper::computeLatency ( size_t num_measurements )

Definition at line 461 of file urg_c_wrapper.cpp.

double URGCWrapper::getAngleIncrement ( ) const

Definition at line 292 of file urg_c_wrapper.cpp.

double URGCWrapper::getAngleMax ( ) const

Definition at line 274 of file urg_c_wrapper.cpp.

double URGCWrapper::getAngleMaxLimit ( ) const

Definition at line 285 of file urg_c_wrapper.cpp.

double URGCWrapper::getAngleMin ( ) const

Definition at line 270 of file urg_c_wrapper.cpp.

double URGCWrapper::getAngleMinLimit ( ) const

Definition at line 278 of file urg_c_wrapper.cpp.

ros::Duration URGCWrapper::getAngularTimeOffset ( ) const [private]

Definition at line 449 of file urg_c_wrapper.cpp.

ros::Duration URGCWrapper::getComputedLatency ( ) const

Definition at line 353 of file urg_c_wrapper.cpp.

std::string URGCWrapper::getDeviceID ( )

Definition at line 349 of file urg_c_wrapper.cpp.

std::string URGCWrapper::getFirmwareDate ( )

Definition at line 341 of file urg_c_wrapper.cpp.

std::string URGCWrapper::getFirmwareVersion ( )

Definition at line 337 of file urg_c_wrapper.cpp.

std::string URGCWrapper::getIPAddress ( ) const

Definition at line 313 of file urg_c_wrapper.cpp.

int URGCWrapper::getIPPort ( ) const

Definition at line 317 of file urg_c_wrapper.cpp.

ros::Duration URGCWrapper::getNativeClockOffset ( size_t num_measurements ) [private]

Definition at line 488 of file urg_c_wrapper.cpp.

std::string URGCWrapper::getProductName ( )

Definition at line 333 of file urg_c_wrapper.cpp.

std::string URGCWrapper::getProtocolVersion ( )

Definition at line 345 of file urg_c_wrapper.cpp.

double URGCWrapper::getRangeMax ( ) const

Definition at line 263 of file urg_c_wrapper.cpp.

double URGCWrapper::getRangeMin ( ) const

Definition at line 256 of file urg_c_wrapper.cpp.

double URGCWrapper::getScanPeriod ( ) const

Definition at line 298 of file urg_c_wrapper.cpp.

std::string URGCWrapper::getSensorState ( )

Definition at line 365 of file urg_c_wrapper.cpp.

std::string URGCWrapper::getSensorStatus ( )

Definition at line 361 of file urg_c_wrapper.cpp.

int URGCWrapper::getSerialBaud ( ) const

Definition at line 325 of file urg_c_wrapper.cpp.

std::string URGCWrapper::getSerialPort ( ) const

Definition at line 321 of file urg_c_wrapper.cpp.

double URGCWrapper::getTimeIncrement ( ) const

Definition at line 303 of file urg_c_wrapper.cpp.

ros::Duration URGCWrapper::getTimeStampOffset ( size_t num_measurements ) [private]

Definition at line 525 of file urg_c_wrapper.cpp.

ros::Duration URGCWrapper::getUserTimeOffset ( ) const

Definition at line 357 of file urg_c_wrapper.cpp.

std::string URGCWrapper::getVendorName ( )

Definition at line 329 of file urg_c_wrapper.cpp.

bool URGCWrapper::grabScan ( const sensor_msgs::LaserScanPtr & msg )

Definition at line 148 of file urg_c_wrapper.cpp.

bool URGCWrapper::grabScan ( const sensor_msgs::MultiEchoLaserScanPtr & msg )

Definition at line 194 of file urg_c_wrapper.cpp.

void URGCWrapper::initialize	(	bool &	using_intensity,
		bool &	using_multiecho
	)		`[private]`

Definition at line 83 of file urg_c_wrapper.cpp.

bool URGCWrapper::isIntensitySupported ( ) [private]

Definition at line 421 of file urg_c_wrapper.cpp.

bool URGCWrapper::isMultiEchoSupported ( ) [private]

Definition at line 435 of file urg_c_wrapper.cpp.

bool URGCWrapper::isStarted ( ) const

Definition at line 252 of file urg_c_wrapper.cpp.

bool URGCWrapper::setAngleLimitsAndCluster	(	double &	angle_min,
		double &	angle_max,
		int	cluster
	)

Definition at line 378 of file urg_c_wrapper.cpp.

void URGCWrapper::setFrameId ( const std::string & frame_id )

Definition at line 369 of file urg_c_wrapper.cpp.

bool URGCWrapper::setSkip ( int skip )

Definition at line 417 of file urg_c_wrapper.cpp.

void URGCWrapper::setUserLatency ( const double latency )

Definition at line 373 of file urg_c_wrapper.cpp.

void URGCWrapper::start ( )

Definition at line 119 of file urg_c_wrapper.cpp.

void URGCWrapper::stop ( )

Definition at line 138 of file urg_c_wrapper.cpp.

Member Data Documentation

int urg_node::URGCWrapper::cluster_ [private]

Definition at line 150 of file urg_c_wrapper.h.

std::vector<long> urg_node::URGCWrapper::data_ [private]

Definition at line 142 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::first_step_ [private]

Definition at line 148 of file urg_c_wrapper.h.

std::string urg_node::URGCWrapper::frame_id_ [private]

Output frame_id for each laserscan.

Definition at line 137 of file urg_c_wrapper.h.

std::vector<unsigned short> urg_node::URGCWrapper::intensity_ [private]

Definition at line 143 of file urg_c_wrapper.h.

std::string urg_node::URGCWrapper::ip_address_ [private]

Definition at line 156 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::ip_port_ [private]

Definition at line 157 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::last_step_ [private]

Definition at line 149 of file urg_c_wrapper.h.

urg_measurement_type_t urg_node::URGCWrapper::measurement_type_ [private]

Definition at line 147 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::serial_baud_ [private]

Definition at line 159 of file urg_c_wrapper.h.

std::string urg_node::URGCWrapper::serial_port_ [private]

Definition at line 158 of file urg_c_wrapper.h.

int urg_node::URGCWrapper::skip_ [private]

Definition at line 151 of file urg_c_wrapper.h.

bool urg_node::URGCWrapper::started_ [private]

Definition at line 140 of file urg_c_wrapper.h.

ros::Duration urg_node::URGCWrapper::system_latency_ [private]

Definition at line 153 of file urg_c_wrapper.h.

urg_t urg_node::URGCWrapper::urg_ [private]

Definition at line 139 of file urg_c_wrapper.h.

bool urg_node::URGCWrapper::use_intensity_ [private]

Definition at line 145 of file urg_c_wrapper.h.

bool urg_node::URGCWrapper::use_multiecho_ [private]

Definition at line 146 of file urg_c_wrapper.h.

ros::Duration urg_node::URGCWrapper::user_latency_ [private]

Definition at line 154 of file urg_c_wrapper.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation