bta_tof_driver::BtaRos Class Reference

#include <bta_tof_driver.hpp>

List of all members.

Public Member Functions
	BtaRos (ros::NodeHandle nh_camera, ros::NodeHandle nh_private, std::string nodeName)
	Class constructor.
void	close ()
	Closes the connection to the device.
int	connectCamera ()
	Helper for connect to the device.
int	initialize ()
	Initializes the device and parameters.
void	publishData ()
	Publish the data based on set up parameters.
virtual	~BtaRos ()
	Class destructor.
Static Public Member Functions
static void BTA_CALLCONV	infoEventCb (BTA_EventId eventId, int8_t *msg)
Private Types
typedef bta_tof_driver::bta_tof_driverConfig	Config
typedef dynamic_reconfigure::Server < Config >	ReconfigureServer
Private Member Functions
void	callback (bta_tof_driver::bta_tof_driverConfig &config, uint32_t level)
	Callback for rqt_reconfigure. It is called any time we change a parameter in the visual interface.
size_t	getDataSize (BTA_DataFormat dataFormat)
	Returns the size of the data based in BTA_DataFormat.
std::string	getDataType (BTA_DataFormat dataFormat)
	Returns the data encoding flat based in BTA_DataFormat.
float	getUnit2Meters (BTA_Unit unit)
	Gives the conversion value to meters from the BTA_Unit.
void	parseConfig ()
	Reads configuration from the server parameters.
Private Attributes
sensor_msgs::PointCloud2Ptr	_xyz
std::string	calibFileName_
camera_info_manager::CameraInfoManager	cim_tof_
BTA_Config	config_
bool	config_init_
boost::mutex	connect_mutex_
BTA_Handle	handle_
image_transport::ImageTransport	it_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
std::string	nodeName_
image_transport::CameraPublisher	pub_amp_
image_transport::CameraPublisher	pub_dis_
tf2_ros::StaticTransformBroadcaster	pub_tf
ros::Publisher	pub_xyz_
boost::shared_ptr < ReconfigureServer >	reconfigure_server_
uint8_t	tcpDeviceIpAddr_ [6]
geometry_msgs::TransformStamped	transformStamped
std::string	uartPortName_
uint8_t	udpControlInIpAddr_ [6]
uint8_t	udpControlOutIpAddr_ [6]
uint8_t	udpDataIpAddr_ [6]

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Detailed Description

Definition at line 83 of file bta_tof_driver.hpp.

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Member Typedef Documentation

typedef bta_tof_driver::bta_tof_driverConfig bta_tof_driver::BtaRos::Config [private]

Definition at line 86 of file bta_tof_driver.hpp.

typedef dynamic_reconfigure::Server<Config> bta_tof_driver::BtaRos::ReconfigureServer [private]

Definition at line 87 of file bta_tof_driver.hpp.

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Constructor & Destructor Documentation

bta_tof_driver::BtaRos::BtaRos	(	ros::NodeHandle	nh_camera,
		ros::NodeHandle	nh_private,
		std::string	nodeName
	)

Class constructor.

param [in] ros::NodeHandle param [in] ros::NodeHandle param [in] std::string

Definition at line 48 of file bta_tof_driver.cpp.

bta_tof_driver::BtaRos::~BtaRos

(

)

[virtual]

Class destructor.

Definition at line 81 of file bta_tof_driver.cpp.

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Member Function Documentation

void bta_tof_driver::BtaRos::callback	(	bta_tof_driver::bta_tof_driverConfig &	config,
		uint32_t	level
	)		[private]

Callback for rqt_reconfigure. It is called any time we change a parameter in the visual interface.

Parameters:

[in]	bta_tof_driver::bta_tof_driverConfig
[in]	uint32_t

Definition at line 101 of file bta_tof_driver.cpp.

void bta_tof_driver::BtaRos::close

(

)

Closes the connection to the device.

Definition at line 87 of file bta_tof_driver.cpp.

int bta_tof_driver::BtaRos::connectCamera

(

)

Helper for connect to the device.

Definition at line 571 of file bta_tof_driver.cpp.

size_t bta_tof_driver::BtaRos::getDataSize

(

BTA_DataFormat

dataFormat

)

[private]

Returns the size of the data based in BTA_DataFormat.

Definition at line 204 of file bta_tof_driver.cpp.

std::string bta_tof_driver::BtaRos::getDataType

(

BTA_DataFormat

dataFormat

)

[private]

Returns the data encoding flat based in BTA_DataFormat.

Definition at line 218 of file bta_tof_driver.cpp.

float bta_tof_driver::BtaRos::getUnit2Meters

(

BTA_Unit

unit

)

[private]

Gives the conversion value to meters from the BTA_Unit.

Parameters:

unit

Returns:

the value to multiply to the data.

Definition at line 232 of file bta_tof_driver.cpp.

static void BTA_CALLCONV bta_tof_driver::BtaRos::infoEventCb	(	BTA_EventId	eventId,
		int8_t *	msg
	)		[inline, static]

Definition at line 142 of file bta_tof_driver.hpp.

int bta_tof_driver::BtaRos::initialize

(

)

Initializes the device and parameters.

Definition at line 616 of file bta_tof_driver.cpp.

void bta_tof_driver::BtaRos::parseConfig

(

)

[private]

Reads configuration from the server parameters.

Definition at line 434 of file bta_tof_driver.cpp.

void bta_tof_driver::BtaRos::publishData

(

)

Publish the data based on set up parameters.

Definition at line 247 of file bta_tof_driver.cpp.

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Member Data Documentation

sensor_msgs::PointCloud2Ptr bta_tof_driver::BtaRos::_xyz [private]

Definition at line 166 of file bta_tof_driver.hpp.

std::string bta_tof_driver::BtaRos::calibFileName_ [private]

Definition at line 164 of file bta_tof_driver.hpp.

camera_info_manager::CameraInfoManager bta_tof_driver::BtaRos::cim_tof_ [private]

Definition at line 149 of file bta_tof_driver.hpp.

BTA_Config bta_tof_driver::BtaRos::config_ [private]

Definition at line 169 of file bta_tof_driver.hpp.

bool bta_tof_driver::BtaRos::config_init_ [private]

Definition at line 157 of file bta_tof_driver.hpp.

boost::mutex bta_tof_driver::BtaRos::connect_mutex_ [private]

Definition at line 159 of file bta_tof_driver.hpp.

BTA_Handle bta_tof_driver::BtaRos::handle_ [private]

Definition at line 168 of file bta_tof_driver.hpp.

image_transport::ImageTransport bta_tof_driver::BtaRos::it_ [private]

Definition at line 150 of file bta_tof_driver.hpp.

ros::NodeHandle bta_tof_driver::BtaRos::nh_ [private]

Definition at line 147 of file bta_tof_driver.hpp.

ros::NodeHandle bta_tof_driver::BtaRos::nh_private_ [private]

Definition at line 147 of file bta_tof_driver.hpp.

std::string bta_tof_driver::BtaRos::nodeName_ [private]

Definition at line 148 of file bta_tof_driver.hpp.

image_transport::CameraPublisher bta_tof_driver::BtaRos::pub_amp_ [private]

Definition at line 151 of file bta_tof_driver.hpp.

image_transport::CameraPublisher bta_tof_driver::BtaRos::pub_dis_ [private]

Definition at line 151 of file bta_tof_driver.hpp.

tf2_ros::StaticTransformBroadcaster bta_tof_driver::BtaRos::pub_tf [private]

Definition at line 152 of file bta_tof_driver.hpp.

ros::Publisher bta_tof_driver::BtaRos::pub_xyz_ [private]

Definition at line 154 of file bta_tof_driver.hpp.

boost::shared_ptr<ReconfigureServer> bta_tof_driver::BtaRos::reconfigure_server_ [private]

Definition at line 156 of file bta_tof_driver.hpp.

uint8_t bta_tof_driver::BtaRos::tcpDeviceIpAddr_[6] [private]

Definition at line 162 of file bta_tof_driver.hpp.

geometry_msgs::TransformStamped bta_tof_driver::BtaRos::transformStamped [private]

Definition at line 153 of file bta_tof_driver.hpp.

std::string bta_tof_driver::BtaRos::uartPortName_ [private]

Definition at line 164 of file bta_tof_driver.hpp.

uint8_t bta_tof_driver::BtaRos::udpControlInIpAddr_[6] [private]

Definition at line 162 of file bta_tof_driver.hpp.

uint8_t bta_tof_driver::BtaRos::udpControlOutIpAddr_[6] [private]

Definition at line 162 of file bta_tof_driver.hpp.

uint8_t bta_tof_driver::BtaRos::udpDataIpAddr_[6] [private]

Definition at line 162 of file bta_tof_driver.hpp.

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

• bta_tof_driver.hpp
• bta_tof_driver.cpp