#include <laser_transform_core.h>

Public Member Functions
void	callbackOdometryFiltered (const nav_msgs::Odometry::ConstPtr &msg)
	Callcack function for filtered odometry.
void	callbackPcl (const sensor_msgs::PointCloud2::ConstPtr &msg)
	Callcack function for laser scanner pcl.
void	checkConvergenceSpeed ()
	Set the speed of convergence depends on the angular velocity.
void	clearOctomap (ros::ServiceClient *client)
	Set the unnecessary part of the octomap free.
int	init ()
	Init.
	LaserTransform ()
	Constructur.
void	publishImuMessage (ros::Publisher *pub_message)
	Publish the IMU message.
void	publishMagneticFieldMessage (ros::Publisher *pub_message)
	Publish the MagneticField message.
void	publishNavSatFixMessage (ros::Publisher *pub_message)
	Publish the NavSatFix message.
void	publishOdometryMessage (ros::Publisher *pub_message)
	Publish the current car velocity.
void	publishPclMessage (ros::Publisher *pub_message)
	Publish the transformed plc data.
int	setImuConvergenceSpeed (uint16_t imu_convergence_speed)
	IMU convergence_speed setter.
void	setLaserPose (double x, double y, double z, double yaw, double pitch, double roll)
	Set the laser pose.
void	setPclPublisher (ros::Publisher *pub)
	Set publisher for transformed pcl data.
	~LaserTransform ()
	Destructor.
Private Member Functions
float	deg2rad (float x)
	Calculate rad from deg.
int	getPosition (float x_pos, float y_pos, float *z_pos)
	Get current car position.
tf::Quaternion	getQuaternion ()
	Get IMU quaternion.
float	rad2deg (float x)
	Calculate deg from rad.
Static Private Member Functions
static void	callbackConnected (uint8_t connect_reason, void *user_data)
	Callback function for Tinkerforge ip connected .
static void	callbackDb (uint8_t button_l, uint8_t button_r, uint8_t led_l, uint8_t led_r, void *user_data)
	Callback function for Tinkerforge Dual Button Bricklet.
static void	callbackEnumerate (const char uid, const char connected_uid, char position, uint8_t hardware_version[3], uint8_t firmware_version[3], uint16_t device_identifier, uint8_t enumeration_type, void *user_data)
	Callback function for Tinkerforge enumerate.
static void	callbackIdi4 (uint8_t interrupt_mask, uint8_t value_mask, void *user_data)
	Callback function for Tinkerforge Industrial Digital In 4 Bricklet.
Private Attributes
float	course_gps
	The GPS course.
DualButton	db
	The DualButton device.
std::fstream	full_log
	Full-Logfile.
GPS	gps
	The GPS device.
std::fstream	gps_log
	GPS-Logfile.
IndustrialDigitalIn4	idi4
	The IndustrialDual020mA device.
IMU	imu
	The IMU device.
int	imu_convergence_speed
	The IMU convergence_speed.
ros::Time	imu_init_time
	Time to correct the imu orientation.
IMUV2	imu_v2
	The IMU_v2 device.
IPConnection	ipcon
	IP connection to Tinkerforge deamon.
bool	is_gps_connected
	The GPS state.
bool	is_idi4_connected
	The IndustrialDual020mA state.
bool	is_imu_connected
	The IMU state.
bool	is_imu_v2_connected
	The IMU_v2 state.
bool	isMeasure
	Flag for active velocity measurement.
bool	isPlc
	laser scanner orientation
tf::Transform	laser_pose
	laser scanner pose
ros::Time	last_rev
	Time since the last rev.
bool	new_pcl_filtered
	Flag for new raw pcl available.
sensor_msgs::PointCloud2	pcl_out
	The transformed point cloud.
ros::Publisher *	pcl_pub
	Publisher for transfered pcl data.
bool	publish_new_pcl
	Flag for new transformed pcl available.
float	rev
	The rev from the inductive proximity switch sensor.
uint16_t	rpm_cnt
	Counter for rounds per second (na)
double	start_latitude
	start latitude
double	start_longitude
	start longitude
std::fstream	velo_log
	Velocity-Logfile.
float	velocity
	The current vehicle velocity.
float	velocity_gps
	The current vehicle velocity.
float	xpos
	The current car position on x-axis.
float	ypos
	The current car position on y-axis.
float	yy

Detailed Description

Definition at line 21 of file laser_transform_core.h.

Constructor & Destructor Documentation

LaserTransform::LaserTransform ( )

Constructur.

Definition at line 44 of file laser_transform_core.cpp.

LaserTransform::~LaserTransform ( )

Destructor.

Definition at line 98 of file laser_transform_core.cpp.

Member Function Documentation

void LaserTransform::callbackConnected	(	uint8_t	connect_reason,
		void *	user_data
	)		`[static, private]`

Callback function for Tinkerforge ip connected .

Definition at line 518 of file laser_transform_core.cpp.

void LaserTransform::callbackDb	(	uint8_t	button_l,
		uint8_t	button_r,
		uint8_t	led_l,
		uint8_t	led_r,
		void *	user_data
	)		`[static, private]`

Callback function for Tinkerforge Dual Button Bricklet.

Definition at line 666 of file laser_transform_core.cpp.

void LaserTransform::callbackEnumerate	(	const char *	uid,
		const char *	connected_uid,
		char	position,
		uint8_t	hardware_version[3],
		uint8_t	firmware_version[3],
		uint16_t	device_identifier,
		uint8_t	enumeration_type,
		void *	user_data
	)		`[static, private]`

Callback function for Tinkerforge enumerate.

Definition at line 531 of file laser_transform_core.cpp.

void LaserTransform::callbackIdi4	(	uint8_t	interrupt_mask,
		uint8_t	value_mask,
		void *	user_data
	)		`[static, private]`

Callback function for Tinkerforge Industrial Digital In 4 Bricklet.

Definition at line 611 of file laser_transform_core.cpp.

void LaserTransform::callbackOdometryFiltered ( const nav_msgs::Odometry::ConstPtr & msg )

Callcack function for filtered odometry.

Definition at line 487 of file laser_transform_core.cpp.

void LaserTransform::callbackPcl ( const sensor_msgs::PointCloud2::ConstPtr & msg )

Callcack function for laser scanner pcl.

Definition at line 473 of file laser_transform_core.cpp.

void LaserTransform::checkConvergenceSpeed ( )

Set the speed of convergence depends on the angular velocity.

Definition at line 294 of file laser_transform_core.cpp.

void LaserTransform::clearOctomap ( ros::ServiceClient * client )

Set the unnecessary part of the octomap free.

Definition at line 851 of file laser_transform_core.cpp.

float LaserTransform::deg2rad ( float x ) [inline, private]

Calculate rad from deg.

Definition at line 106 of file laser_transform_core.h.

int LaserTransform::getPosition	(	float *	x_pos,
		float *	y_pos,
		float *	z_pos
	)		`[private]`

Get current car position.

Definition at line 949 of file laser_transform_core.cpp.

tf::Quaternion LaserTransform::getQuaternion ( ) [private]

Get IMU quaternion.

Definition at line 707 of file laser_transform_core.cpp.

int LaserTransform::init ( )

Init.

Definition at line 137 of file laser_transform_core.cpp.

void LaserTransform::publishImuMessage ( ros::Publisher * pub_message )

Publish the IMU message.

Definition at line 182 of file laser_transform_core.cpp.

void LaserTransform::publishMagneticFieldMessage ( ros::Publisher * pub_message )

Publish the MagneticField message.

Definition at line 318 of file laser_transform_core.cpp.

void LaserTransform::publishNavSatFixMessage ( ros::Publisher * pub_message )

Publish the NavSatFix message.

Definition at line 374 of file laser_transform_core.cpp.

void LaserTransform::publishOdometryMessage ( ros::Publisher * pub_message )

Publish the current car velocity.

Definition at line 739 of file laser_transform_core.cpp.

void LaserTransform::publishPclMessage ( ros::Publisher * pub_message )

Publish the transformed plc data.

Definition at line 168 of file laser_transform_core.cpp.

float LaserTransform::rad2deg ( float x ) [inline, private]

Calculate deg from rad.

Definition at line 100 of file laser_transform_core.h.

int LaserTransform::setImuConvergenceSpeed ( uint16_t imu_convergence_speed ) [inline]

IMU convergence_speed setter.

Definition at line 70 of file laser_transform_core.h.

void LaserTransform::setLaserPose	(	double	x,
		double	y,
		double	z,
		double	yaw,
		double	pitch,
		double	roll
	)

Set the laser pose.

Definition at line 822 of file laser_transform_core.cpp.

void LaserTransform::setPclPublisher ( ros::Publisher * pub ) [inline]

Set publisher for transformed pcl data.

Definition at line 64 of file laser_transform_core.h.

Member Data Documentation

float LaserTransform::course_gps [private]

The GPS course.

Definition at line 170 of file laser_transform_core.h.

DualButton LaserTransform::db [private]

The DualButton device.

Definition at line 138 of file laser_transform_core.h.

std::fstream LaserTransform::full_log [private]

Full-Logfile.

Definition at line 177 of file laser_transform_core.h.

GPS LaserTransform::gps [private]

The GPS device.

Definition at line 128 of file laser_transform_core.h.

std::fstream LaserTransform::gps_log [private]

GPS-Logfile.

Definition at line 173 of file laser_transform_core.h.

IndustrialDigitalIn4 LaserTransform::idi4 [private]

The IndustrialDual020mA device.

Definition at line 132 of file laser_transform_core.h.

IMU LaserTransform::imu [private]

The IMU device.

Definition at line 116 of file laser_transform_core.h.

int LaserTransform::imu_convergence_speed [private]

The IMU convergence_speed.

Definition at line 120 of file laser_transform_core.h.

ros::Time LaserTransform::imu_init_time [private]

Time to correct the imu orientation.

Definition at line 122 of file laser_transform_core.h.

IMUV2 LaserTransform::imu_v2 [private]

The IMU_v2 device.

Definition at line 124 of file laser_transform_core.h.

IPConnection LaserTransform::ipcon [private]

IP connection to Tinkerforge deamon.

Definition at line 114 of file laser_transform_core.h.

bool LaserTransform::is_gps_connected [private]

The GPS state.

Definition at line 130 of file laser_transform_core.h.

bool LaserTransform::is_idi4_connected [private]

The IndustrialDual020mA state.

Definition at line 136 of file laser_transform_core.h.

bool LaserTransform::is_imu_connected [private]

The IMU state.

Definition at line 118 of file laser_transform_core.h.

bool LaserTransform::is_imu_v2_connected [private]

The IMU_v2 state.

Definition at line 126 of file laser_transform_core.h.

bool LaserTransform::isMeasure [private]

Flag for active velocity measurement.

Definition at line 140 of file laser_transform_core.h.

bool LaserTransform::isPlc [private]

laser scanner orientation

Definition at line 160 of file laser_transform_core.h.

tf::Transform LaserTransform::laser_pose [private]

laser scanner pose

Definition at line 156 of file laser_transform_core.h.

ros::Time LaserTransform::last_rev [private]

Time since the last rev.

Definition at line 144 of file laser_transform_core.h.

bool LaserTransform::new_pcl_filtered [private]

Flag for new raw pcl available.

Definition at line 150 of file laser_transform_core.h.

sensor_msgs::PointCloud2 LaserTransform::pcl_out [private]

The transformed point cloud.

Definition at line 146 of file laser_transform_core.h.

ros::Publisher* LaserTransform::pcl_pub [private]

Publisher for transfered pcl data.

Definition at line 112 of file laser_transform_core.h.

bool LaserTransform::publish_new_pcl [private]

Flag for new transformed pcl available.

Definition at line 148 of file laser_transform_core.h.

float LaserTransform::rev [private]

The rev from the inductive proximity switch sensor.

Definition at line 142 of file laser_transform_core.h.

uint16_t LaserTransform::rpm_cnt [private]

Counter for rounds per second (na)

Definition at line 134 of file laser_transform_core.h.

double LaserTransform::start_latitude [private]

start latitude

Definition at line 152 of file laser_transform_core.h.

double LaserTransform::start_longitude [private]

start longitude

Definition at line 154 of file laser_transform_core.h.

std::fstream LaserTransform::velo_log [private]

Velocity-Logfile.

Definition at line 175 of file laser_transform_core.h.

float LaserTransform::velocity [private]

The current vehicle velocity.

Definition at line 166 of file laser_transform_core.h.

float LaserTransform::velocity_gps [private]

The current vehicle velocity.

Definition at line 168 of file laser_transform_core.h.

float LaserTransform::xpos [private]

The current car position on x-axis.

Definition at line 162 of file laser_transform_core.h.

float LaserTransform::ypos [private]

The current car position on y-axis.

Definition at line 164 of file laser_transform_core.h.

float LaserTransform::yy [private]

Definition at line 171 of file laser_transform_core.h.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation