This is a class for jsk_pcl/SphericalPointCloudSimulator nodelet. More...

#include <spherical_pointcloud_simulator.h>

Inheritance diagram for jsk_pcl_ros_utils::SphericalPointCloudSimulator:

Public Types
typedef SphericalPointCloudSimulatorConfig	Config

Public Types inherited from jsk_topic_tools::DiagnosticNodelet
typedef boost::shared_ptr< DiagnosticNodelet >	Ptr

Public Member Functions
	SphericalPointCloudSimulator ()

Public Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
	DiagnosticNodelet (const std::string &name)

Public Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
	ConnectionBasedNodelet ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Protected Member Functions
virtual void	configCallback (Config &config, uint32_t level)
	dynamic_reconfigure callback More...

virtual void	generate (const sensor_msgs::PointCloud2::ConstPtr &msg)
	Callback function for ~input topic. More...

virtual Eigen::Affine3f	getPlane (double phi)
	Transformation for scan plane specified by phi angle. More...

virtual pcl::PointXYZ	getPoint (double r, double theta, const Eigen::Affine3f &trans)
	compute a point according to a parametric model of spherical tilting laser. More...

virtual void	onInit ()
	Initialization function. More...

virtual void	subscribe ()
	Subscribe another pointcloud to synchronize timestamp. More...

virtual void	timerCallback (const ros::TimerEvent &event)
	Timer callback for fixed rate publishing. More...

virtual void	unsubscribe ()
	Shutdown subscribers. More...

Protected Member Functions inherited from jsk_topic_tools::DiagnosticNodelet
virtual void	updateDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat)

Protected Member Functions inherited from jsk_topic_tools::ConnectionBasedNodelet
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, image_transport::ImageTransport &it, const std::string &topic, int queue_size)

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, const std::string &topic, int queue_size)

virtual void	cameraConnectionBaseCallback ()

virtual void	cameraConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual void	cameraInfoConnectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)

virtual void	imageConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)

virtual bool	isSubscribed ()

virtual void	onInitPostProcess ()

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)

virtual void	warnOnInitPostProcessCalledCallback (const ros::WallTimerEvent &event)

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes
double	fps_

std::string	frame_id_
	frame_id of output pointcloud. If it is empty string, frame_id of ~input is copied. More...

double	max_phi_

double	min_phi_

boost::mutex	mutex_

ros::Publisher	pub_

double	r_

double	rotate_velocity_

int	scan_num_

double	scan_range_

boost::shared_ptr< dynamic_reconfigure::Server< Config > >	srv_

ros::Subscriber	sub_

ros::Timer	timer_

Protected Attributes inherited from jsk_topic_tools::DiagnosticNodelet
TimeredDiagnosticUpdater::Ptr	diagnostic_updater_

const std::string	name_

jsk_topic_tools::VitalChecker::Ptr	vital_checker_

Protected Attributes inherited from jsk_topic_tools::ConnectionBasedNodelet
bool	always_subscribe_

std::vector< image_transport::CameraPublisher >	camera_publishers_

boost::mutex	connection_mutex_

ConnectionStatus	connection_status_

bool	ever_subscribed_

std::vector< image_transport::Publisher >	image_publishers_

boost::shared_ptr< ros::NodeHandle >	nh_

bool	on_init_post_process_called_

boost::shared_ptr< ros::NodeHandle >	pnh_

std::vector< ros::Publisher >	publishers_

bool	subscribed_

ros::WallTimer	timer_warn_never_subscribed_

ros::WallTimer	timer_warn_on_init_post_process_called_

bool	verbose_connection_

Detailed Description

This is a class for jsk_pcl/SphericalPointCloudSimulator nodelet.

Definition at line 51 of file spherical_pointcloud_simulator.h.

Member Typedef Documentation

typedef SphericalPointCloudSimulatorConfig jsk_pcl_ros_utils::SphericalPointCloudSimulator::Config

Definition at line 54 of file spherical_pointcloud_simulator.h.

Constructor & Destructor Documentation

jsk_pcl_ros_utils::SphericalPointCloudSimulator::SphericalPointCloudSimulator ( )

inline

Definition at line 55 of file spherical_pointcloud_simulator.h.

Member Function Documentation

void jsk_pcl_ros_utils::SphericalPointCloudSimulator::configCallback	(	Config &	config,
		uint32_t	level
	)

protectedvirtual

dynamic_reconfigure callback

Definition at line 74 of file spherical_pointcloud_simulator_nodelet.cpp.

void jsk_pcl_ros_utils::SphericalPointCloudSimulator::generate ( const sensor_msgs::PointCloud2::ConstPtr & msg )

protectedvirtual

Callback function for ~input topic.

Pointcloud message is used only for timestamp and frame_id.

Definition at line 96 of file spherical_pointcloud_simulator_nodelet.cpp.

Eigen::Affine3f jsk_pcl_ros_utils::SphericalPointCloudSimulator::getPlane ( double phi )

protectedvirtual

Transformation for scan plane specified by phi angle.

Definition at line 130 of file spherical_pointcloud_simulator_nodelet.cpp.

pcl::PointXYZ jsk_pcl_ros_utils::SphericalPointCloudSimulator::getPoint	(	double	r,
		double	theta,
		const Eigen::Affine3f &	trans
	)

protectedvirtual

compute a point according to a parametric model of spherical tilting laser.

The normal of scan plane is defined as [0, sin(phi), cos(phi)]. Each point of scan is represented as follows respected to the plane: p = [r*cos(theta), r*sin(theta), 0]

Definition at line 140 of file spherical_pointcloud_simulator_nodelet.cpp.

void jsk_pcl_ros_utils::SphericalPointCloudSimulator::onInit ( void )

protectedvirtual

Initialization function.

Reimplemented from jsk_topic_tools::DiagnosticNodelet.

Definition at line 40 of file spherical_pointcloud_simulator_nodelet.cpp.

void jsk_pcl_ros_utils::SphericalPointCloudSimulator::subscribe ( )

protectedvirtual

Subscribe another pointcloud to synchronize timestamp.

Implements jsk_topic_tools::ConnectionBasedNodelet.

Definition at line 63 of file spherical_pointcloud_simulator_nodelet.cpp.

void jsk_pcl_ros_utils::SphericalPointCloudSimulator::timerCallback ( const ros::TimerEvent & event )