lslidar_c16_driver::LslidarC16Driver Class Reference

#include <lslidar_c16_driver.h>

Public Types
typedef boost::shared_ptr< const LslidarC16Driver >	LslidarC16DriverConstPtr
typedef boost::shared_ptr< LslidarC16Driver >	LslidarC16DriverPtr

Public Member Functions
void	getFPGA_GPSTimeStamp (lslidar_c16_msgs::LslidarC16PacketPtr &packet)
bool	initialize ()
void	initTimeStamp (void)
	LslidarC16Driver (ros::NodeHandle &n, ros::NodeHandle &pn)
bool	polling ()
	~LslidarC16Driver ()

Private Member Functions
bool	createRosIO ()
int	getPacket (lslidar_c16_msgs::LslidarC16PacketPtr &msg)
bool	loadParameters ()
bool	openUDPPort ()

Private Attributes
bool	add_multicast
int	cnt_gps_ts
struct tm	cur_time
double	diag_max_freq
double	diag_min_freq
boost::shared_ptr< diagnostic_updater::TopicDiagnostic >	diag_topic
diagnostic_updater::Updater	diagnostics
uint64_t	GPS_ts
uint64_t	GPSCountingTS
uint64_t	GPSStableTS
std::string	group_ip_string
uint64_t	last_FPGA_ts
in_addr	lidar_ip
std::string	lidar_ip_string
unsigned short int	ms
ros::NodeHandle	nh
ros::Publisher	packet_pub
unsigned char	packetTimeStamp [10]
ros::NodeHandle	pnh
uint64_t	pointcloudTimeStamp
int	socket_id
ros::Time	timeStamp
int	UDP_PORT_NUMBER
unsigned short int	us
bool	use_gps_

Detailed Description

Definition at line 40 of file lslidar_c16_driver.h.

Member Typedef Documentation

typedef boost::shared_ptr<const LslidarC16Driver> lslidar_c16_driver::LslidarC16Driver::LslidarC16DriverConstPtr

Definition at line 53 of file lslidar_c16_driver.h.

typedef boost::shared_ptr<LslidarC16Driver> lslidar_c16_driver::LslidarC16Driver::LslidarC16DriverPtr

Definition at line 52 of file lslidar_c16_driver.h.

Constructor & Destructor Documentation

lslidar_c16_driver::LslidarC16Driver::LslidarC16Driver	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pn
	)

Definition at line 35 of file lslidar_c16_driver.cc.

lslidar_c16_driver::LslidarC16Driver::~LslidarC16Driver

(

)

Definition at line 43 of file lslidar_c16_driver.cc.

Member Function Documentation

bool lslidar_c16_driver::LslidarC16Driver::createRosIO ( )

private

Definition at line 62 of file lslidar_c16_driver.cc.

void lslidar_c16_driver::LslidarC16Driver::getFPGA_GPSTimeStamp

(

lslidar_c16_msgs::LslidarC16PacketPtr &

packet

)

Definition at line 294 of file lslidar_c16_driver.cc.

int lslidar_c16_driver::LslidarC16Driver::getPacket ( lslidar_c16_msgs::LslidarC16PacketPtr &  msg )

private

Definition at line 147 of file lslidar_c16_driver.cc.

bool lslidar_c16_driver::LslidarC16Driver::initialize

(

)

Definition at line 125 of file lslidar_c16_driver.cc.

void lslidar_c16_driver::LslidarC16Driver::initTimeStamp

(

void

)

Definition at line 281 of file lslidar_c16_driver.cc.

bool lslidar_c16_driver::LslidarC16Driver::loadParameters ( )

private

Definition at line 48 of file lslidar_c16_driver.cc.

bool lslidar_c16_driver::LslidarC16Driver::openUDPPort ( )

private

Definition at line 87 of file lslidar_c16_driver.cc.

bool lslidar_c16_driver::LslidarC16Driver::polling

(

)

Definition at line 243 of file lslidar_c16_driver.cc.

Member Data Documentation

bool lslidar_c16_driver::LslidarC16Driver::add_multicast

private

Definition at line 70 of file lslidar_c16_driver.h.

int lslidar_c16_driver::LslidarC16Driver::cnt_gps_ts

private

Definition at line 68 of file lslidar_c16_driver.h.

struct tm lslidar_c16_driver::LslidarC16Driver::cur_time

private

Definition at line 88 of file lslidar_c16_driver.h.

double lslidar_c16_driver::LslidarC16Driver::diag_max_freq

private

Definition at line 80 of file lslidar_c16_driver.h.

double lslidar_c16_driver::LslidarC16Driver::diag_min_freq

private

Definition at line 79 of file lslidar_c16_driver.h.

boost::shared_ptr<diagnostic_updater::TopicDiagnostic> lslidar_c16_driver::LslidarC16Driver::diag_topic

private

Definition at line 78 of file lslidar_c16_driver.h.

diagnostic_updater::Updater lslidar_c16_driver::LslidarC16Driver::diagnostics

private

Definition at line 77 of file lslidar_c16_driver.h.

uint64_t lslidar_c16_driver::LslidarC16Driver::GPS_ts

private

Definition at line 86 of file lslidar_c16_driver.h.

uint64_t lslidar_c16_driver::LslidarC16Driver::GPSCountingTS

private

Definition at line 84 of file lslidar_c16_driver.h.

uint64_t lslidar_c16_driver::LslidarC16Driver::GPSStableTS

private

Definition at line 83 of file lslidar_c16_driver.h.

std::string lslidar_c16_driver::LslidarC16Driver::group_ip_string

private

Definition at line 64 of file lslidar_c16_driver.h.

uint64_t lslidar_c16_driver::LslidarC16Driver::last_FPGA_ts

private

Definition at line 85 of file lslidar_c16_driver.h.

in_addr lslidar_c16_driver::LslidarC16Driver::lidar_ip

private

Definition at line 65 of file lslidar_c16_driver.h.

std::string lslidar_c16_driver::LslidarC16Driver::lidar_ip_string

private

Definition at line 63 of file lslidar_c16_driver.h.

unsigned short int lslidar_c16_driver::LslidarC16Driver::ms

private

Definition at line 90 of file lslidar_c16_driver.h.

ros::NodeHandle lslidar_c16_driver::LslidarC16Driver::nh

private

Definition at line 72 of file lslidar_c16_driver.h.

ros::Publisher lslidar_c16_driver::LslidarC16Driver::packet_pub

private

Definition at line 74 of file lslidar_c16_driver.h.

unsigned char lslidar_c16_driver::LslidarC16Driver::packetTimeStamp[10]

private

Definition at line 87 of file lslidar_c16_driver.h.

ros::NodeHandle lslidar_c16_driver::LslidarC16Driver::pnh

private

Definition at line 73 of file lslidar_c16_driver.h.

uint64_t lslidar_c16_driver::LslidarC16Driver::pointcloudTimeStamp

private

Definition at line 82 of file lslidar_c16_driver.h.

int lslidar_c16_driver::LslidarC16Driver::socket_id

private

Definition at line 67 of file lslidar_c16_driver.h.

ros::Time lslidar_c16_driver::LslidarC16Driver::timeStamp

private

Definition at line 91 of file lslidar_c16_driver.h.

int lslidar_c16_driver::LslidarC16Driver::UDP_PORT_NUMBER

private

Definition at line 66 of file lslidar_c16_driver.h.

unsigned short int lslidar_c16_driver::LslidarC16Driver::us

private

Definition at line 89 of file lslidar_c16_driver.h.

bool lslidar_c16_driver::LslidarC16Driver::use_gps_

private

Definition at line 69 of file lslidar_c16_driver.h.

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

• lslidar_c16_driver.h
• lslidar_c16_driver.cc