Public Member Functions | Protected Attributes | Private Member Functions | Private Attributes | List of all members
laser_assembler::BaseAssembler< T > Class Template Referenceabstract

Maintains a history of point clouds and generates an aggregate point cloud upon request. More...

#include <base_assembler.h>

Public Member Functions

 BaseAssembler (const std::string &max_size_param_name)
 
virtual void ConvertToCloud (const std::string &fixed_frame_id, const T &scan_in, sensor_msgs::PointCloud &cloud_out)=0
 Converts the current scan into a cloud in the specified fixed frame. More...
 
virtual unsigned int GetPointsInScan (const T &scan)=0
 Returns the number of points in the current scan. More...
 
void start (const std::string &in_topic_name)
 Tells the assembler to start listening to input data It is possible that a derived class needs to initialize and configure various things before actually beginning to process scans. Calling start create subcribes to the input stream, thus allowing the scanCallback and ConvertToCloud to be called. Start should be called only once. More...
 
void start ()
 
 ~BaseAssembler ()
 

Protected Attributes

ros::NodeHandle n_
 
ros::NodeHandle private_ns_
 
tf::TransformListenertf_
 
tf::MessageFilter< T > * tf_filter_
 

Private Member Functions

bool assembleScans (AssembleScans::Request &req, AssembleScans::Response &resp)
 
bool assembleScans2 (AssembleScans2::Request &req, AssembleScans2::Response &resp)
 
bool buildCloud (AssembleScans::Request &req, AssembleScans::Response &resp)
 Service Callback function called whenever we need to build a cloud. More...
 
bool buildCloud2 (AssembleScans2::Request &req, AssembleScans2::Response &resp)
 
virtual void msgCallback (const boost::shared_ptr< const T > &scan_ptr)
 Callback function for every time we receive a new scan. More...
 

Private Attributes

ros::ServiceServer assemble_scans_server2_
 
ros::ServiceServer assemble_scans_server_
 
ros::ServiceServer build_cloud_server2_
 
ros::ServiceServer build_cloud_server_
 
unsigned int downsample_factor_
 Specify how much to downsample the data. A value of 1 preserves all the data. 3 would keep 1/3 of the data. More...
 
std::string fixed_frame_
 The frame to transform data into upon receipt. More...
 
unsigned int max_scans_
 The max number of scans to store in the scan history. More...
 
std::deque< sensor_msgs::PointCloud > scan_hist_
 Stores history of scans. More...
 
boost::mutex scan_hist_mutex_
 
message_filters::Subscriber< T > scan_sub_
 
message_filters::Connection tf_filter_connection_
 
unsigned int total_pts_
 The number points currently in the scan history. More...
 

Detailed Description

template<class T>
class laser_assembler::BaseAssembler< T >

Maintains a history of point clouds and generates an aggregate point cloud upon request.

Definition at line 60 of file base_assembler.h.

Constructor & Destructor Documentation

template<class T >
laser_assembler::BaseAssembler< T >::BaseAssembler ( const std::string &  max_size_param_name)

Definition at line 138 of file base_assembler.h.

template<class T >
laser_assembler::BaseAssembler< T >::~BaseAssembler ( )

Definition at line 221 of file base_assembler.h.

Member Function Documentation

template<class T >
bool laser_assembler::BaseAssembler< T >::assembleScans ( AssembleScans::Request &  req,
AssembleScans::Response &  resp 
)
private

Definition at line 273 of file base_assembler.h.

template<class T >
bool laser_assembler::BaseAssembler< T >::assembleScans2 ( AssembleScans2::Request &  req,
AssembleScans2::Response &  resp 
)
private

Definition at line 359 of file base_assembler.h.

template<class T >
bool laser_assembler::BaseAssembler< T >::buildCloud ( AssembleScans::Request &  req,
AssembleScans::Response &  resp 
)
private

Service Callback function called whenever we need to build a cloud.

Definition at line 265 of file base_assembler.h.

template<class T >
bool laser_assembler::BaseAssembler< T >::buildCloud2 ( AssembleScans2::Request &  req,
AssembleScans2::Response &  resp 
)
private

Definition at line 352 of file base_assembler.h.

template<class T>
virtual void laser_assembler::BaseAssembler< T >::ConvertToCloud ( const std::string &  fixed_frame_id,
const T &  scan_in,
sensor_msgs::PointCloud &  cloud_out 
)
pure virtual

Converts the current scan into a cloud in the specified fixed frame.

Note: Once implemented, ConvertToCloud should NOT catch TF exceptions. These exceptions are caught by BaseAssembler, and will be counted for diagnostic information

Parameters
fixed_frame_idThe name of the frame in which we want cloud_out to be in
scan_inThe scan that we want to convert
cloud_outThe result of transforming scan_in into a cloud in frame fixed_frame_id
template<class T>
virtual unsigned int laser_assembler::BaseAssembler< T >::GetPointsInScan ( const T &  scan)
pure virtual

Returns the number of points in the current scan.

Parameters
scanThe scan for for which we want to know the number of points
Returns
the number of points in scan

Implemented in laser_assembler::LaserScanAssembler, laser_assembler::PointCloud2Assembler, and laser_assembler::PointCloudAssembler.

template<class T>
void laser_assembler::BaseAssembler< T >::msgCallback ( const boost::shared_ptr< const T > &  scan_ptr)
privatevirtual

Callback function for every time we receive a new scan.

Definition at line 230 of file base_assembler.h.

template<class T >
void laser_assembler::BaseAssembler< T >::start ( const std::string &  in_topic_name)

Tells the assembler to start listening to input data It is possible that a derived class needs to initialize and configure various things before actually beginning to process scans. Calling start create subcribes to the input stream, thus allowing the scanCallback and ConvertToCloud to be called. Start should be called only once.

Definition at line 193 of file base_assembler.h.

template<class T >
void laser_assembler::BaseAssembler< T >::start ( )

Definition at line 207 of file base_assembler.h.

Member Data Documentation

template<class T>
ros::ServiceServer laser_assembler::BaseAssembler< T >::assemble_scans_server2_
private

Definition at line 105 of file base_assembler.h.

template<class T>
ros::ServiceServer laser_assembler::BaseAssembler< T >::assemble_scans_server_
private

Definition at line 103 of file base_assembler.h.

template<class T>
ros::ServiceServer laser_assembler::BaseAssembler< T >::build_cloud_server2_
private

Definition at line 104 of file base_assembler.h.

template<class T>
ros::ServiceServer laser_assembler::BaseAssembler< T >::build_cloud_server_
private

Definition at line 102 of file base_assembler.h.

template<class T>
unsigned int laser_assembler::BaseAssembler< T >::downsample_factor_
private

Specify how much to downsample the data. A value of 1 preserves all the data. 3 would keep 1/3 of the data.

Definition at line 133 of file base_assembler.h.

template<class T>
std::string laser_assembler::BaseAssembler< T >::fixed_frame_
private

The frame to transform data into upon receipt.

Definition at line 130 of file base_assembler.h.

template<class T>
unsigned int laser_assembler::BaseAssembler< T >::max_scans_
private

The max number of scans to store in the scan history.

Definition at line 127 of file base_assembler.h.

template<class T>
ros::NodeHandle laser_assembler::BaseAssembler< T >::n_
protected

Definition at line 98 of file base_assembler.h.

template<class T>
ros::NodeHandle laser_assembler::BaseAssembler< T >::private_ns_
protected

Definition at line 97 of file base_assembler.h.

template<class T>
std::deque<sensor_msgs::PointCloud> laser_assembler::BaseAssembler< T >::scan_hist_
private

Stores history of scans.

Definition at line 120 of file base_assembler.h.

template<class T>
boost::mutex laser_assembler::BaseAssembler< T >::scan_hist_mutex_
private

Definition at line 121 of file base_assembler.h.

template<class T>
message_filters::Subscriber<T> laser_assembler::BaseAssembler< T >::scan_sub_
private

Definition at line 106 of file base_assembler.h.

template<class T>
tf::TransformListener* laser_assembler::BaseAssembler< T >::tf_
protected

Definition at line 94 of file base_assembler.h.

template<class T>
tf::MessageFilter<T>* laser_assembler::BaseAssembler< T >::tf_filter_
protected

Definition at line 95 of file base_assembler.h.

template<class T>
message_filters::Connection laser_assembler::BaseAssembler< T >::tf_filter_connection_
private

Definition at line 107 of file base_assembler.h.

template<class T>
unsigned int laser_assembler::BaseAssembler< T >::total_pts_
private

The number points currently in the scan history.

Definition at line 124 of file base_assembler.h.


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


laser_assembler
Author(s): Vijay Pradeep
autogenerated on Thu Jun 27 2019 19:47:56