Classes
class	DriftedTime
Public Member Functions
void	spin ()
	UrgStampedNode ()
Protected Member Functions
ros::Time	calculateDeviceTimeOrigin (const boost::posix_time::ptime &time_response, const uint64_t &device_timestamp, ros::Time &time_at_device_timestamp)
ros::Time	calculateDeviceTimeOriginByAverage (const boost::posix_time::ptime &time_request, const boost::posix_time::ptime &time_response, const uint64_t &device_timestamp)
void	cbConnect ()
void	cbII (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const std::map< std::string, std::string > &params)
void	cbIISend (const boost::posix_time::ptime &time_send)
void	cbM (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const scip2::ScanData &scan, const bool has_intensity)
void	cbPP (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const std::map< std::string, std::string > &params)
void	cbQT (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status)
void	cbTM (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const scip2::Timestamp &time_device)
void	cbTMSend (const boost::posix_time::ptime &time_send)
void	cbVV (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const std::map< std::string, std::string > &params)
void	delayEstimation (const ros::TimerEvent &event=ros::TimerEvent())
void	timeSync (const ros::TimerEvent &event=ros::TimerEvent())
void	tryTM (const ros::TimerEvent &event=ros::TimerEvent())
Protected Attributes
double	communication_delay_filter_alpha_
std::list< ros::Duration >	communication_delays_
scip2::Connection::Ptr	device_
DriftedTime	device_time_origin_
std::list< ros::Time >	device_time_origins_
ros::Duration	estimated_communication_delay_
bool	estimated_communication_delay_init_
ros::Time	last_sync_time_
sensor_msgs::LaserScan	msg_base_
ros::NodeHandle	nh_
std::vector< ros::Duration >	on_scan_communication_delays_
ros::NodeHandle	pnh_
ros::Publisher	pub_scan_
bool	publish_intensity_
std::default_random_engine	random_engine_
scip2::Protocol::Ptr	scip_
uint32_t	step_max_
uint32_t	step_min_
std::uniform_real_distribution < double >	sync_interval_
ros::Time	t0_
boost::posix_time::ptime	time_ii_request
boost::posix_time::ptime	time_tm_request
ros::Timer	timer_delay_estim_
ros::Timer	timer_sync_
ros::Timer	timer_try_tm_
FirstOrderHPF< double >	timestamp_hpf_
FirstOrderLPF< double >	timestamp_lpf_
TimestampMovingAverage	timestamp_moving_average_
TimestampOutlierRemover	timestamp_outlier_removal_
size_t	tm_iter_num_
size_t	tm_median_window_
scip2::Walltime< 24 >	walltime_

Detailed Description

Definition at line 38 of file urg_stamped.cpp.

Constructor & Destructor Documentation

UrgStampedNode::UrgStampedNode ( ) [inline]

Definition at line 412 of file urg_stamped.cpp.

Member Function Documentation

ros::Time UrgStampedNode::calculateDeviceTimeOrigin	(	const boost::posix_time::ptime &	time_response,
		const uint64_t &	device_timestamp,
		ros::Time &	time_at_device_timestamp
	)		`[inline, protected]`

Definition at line 111 of file urg_stamped.cpp.

ros::Time UrgStampedNode::calculateDeviceTimeOriginByAverage	(	const boost::posix_time::ptime &	time_request,
		const boost::posix_time::ptime &	time_response,
		const uint64_t &	device_timestamp
	)		`[inline, protected]`

Definition at line 99 of file urg_stamped.cpp.

void UrgStampedNode::cbConnect ( ) [inline, protected]

Definition at line 381 of file urg_stamped.cpp.

void UrgStampedNode::cbII	(	const boost::posix_time::ptime &	time_read,
		const std::string &	echo_back,
		const std::string &	status,
		const std::map< std::string, std::string > &	params
	)		`[inline, protected]`

Definition at line 311 of file urg_stamped.cpp.

void UrgStampedNode::cbIISend ( const boost::posix_time::ptime & time_send ) [inline, protected]

Definition at line 307 of file urg_stamped.cpp.

void UrgStampedNode::cbM	(	const boost::posix_time::ptime &	time_read,
		const std::string &	echo_back,
		const std::string &	status,
		const scip2::ScanData &	scan,
		const bool	has_intensity
	)		`[inline, protected]`

Definition at line 121 of file urg_stamped.cpp.

void UrgStampedNode::cbPP	(	const boost::posix_time::ptime &	time_read,
		const std::string &	echo_back,
		const std::string &	status,
		const std::map< std::string, std::string > &	params
	)		`[inline, protected]`

Definition at line 263 of file urg_stamped.cpp.

void UrgStampedNode::cbQT	(	const boost::posix_time::ptime &	time_read,
		const std::string &	echo_back,
		const std::string &	status
	)		`[inline, protected]`

Definition at line 374 of file urg_stamped.cpp.

void UrgStampedNode::cbTM	(	const boost::posix_time::ptime &	time_read,
		const std::string &	echo_back,
		const std::string &	status,
		const scip2::Timestamp &	time_device
	)		`[inline, protected]`

Definition at line 179 of file urg_stamped.cpp.

void UrgStampedNode::cbTMSend ( const boost::posix_time::ptime & time_send ) [inline, protected]

Definition at line 175 of file urg_stamped.cpp.

void UrgStampedNode::cbVV	(	const boost::posix_time::ptime &	time_read,
		const std::string &	echo_back,
		const std::string &	status,
		const std::map< std::string, std::string > &	params
	)		`[inline, protected]`