#include <lslidar_n301_decoder.h>

Classes
struct	Firing

struct	RawBlock

struct	RawPacket

union	TwoBytes

Public Types
typedef boost::shared_ptr< const LslidarN301Decoder >	LslidarN301DecoderConstPtr

typedef boost::shared_ptr< LslidarN301Decoder >	LslidarN301DecoderPtr

Public Member Functions
bool	initialize ()

	LslidarN301Decoder (ros::NodeHandle &n, ros::NodeHandle &pn)

	LslidarN301Decoder (const LslidarN301Decoder &)=delete

LslidarN301Decoder	operator= (const LslidarN301Decoder &)=delete

	~LslidarN301Decoder ()

Private Member Functions
bool	checkPacketValidity (const RawPacket *packet)

bool	createRosIO ()

void	decodePacket (const RawPacket *packet)

uint64_t	get_gps_stamp (tm t)

point_struct	getMeans (std::vector< point_struct > clusters)

bool	isPointInRange (const double &distance)

bool	loadParameters ()

void	packetCallback (const lslidar_n301_msgs::LslidarN301PacketConstPtr &msg)

void	publishPointCloud ()

void	publishScan ()

double	rawAzimuthToDouble (const uint16_t &raw_azimuth)

Private Attributes
double	angle_base

double	angle_disable_max

double	angle_disable_min

std::string	child_frame_id

double	cos_azimuth_table [6300]

Firing	firings [FIRINGS_PER_PACKET]

std::string	fixed_frame_id

double	frequency

bool	is_first_sweep

double	last_azimuth

double	max_range

double	min_range

ros::NodeHandle	nh

double	packet_start_time

ros::Subscriber	packet_sub

uint64_t	packet_timestamp

ros::NodeHandle	pnh

sensor_msgs::PointCloud2	point_cloud_data

ros::Publisher	point_cloud_pub

int	point_num

tm	pTime

bool	publish_point_cloud

ros::Publisher	scan_pub

double	sin_azimuth_table [6300]

lslidar_n301_msgs::LslidarN301SweepPtr	sweep_data

uint64_t	sweep_end_time_gps

uint64_t	sweep_end_time_hardware

ros::Publisher	sweep_pub

double	sweep_start_time

bool	use_gps_ts

Detailed Description

Definition at line 125 of file lslidar_n301_decoder.h.

Member Typedef Documentation

typedef boost::shared_ptr<const LslidarN301Decoder> lslidar_n301_decoder::LslidarN301Decoder::LslidarN301DecoderConstPtr

Definition at line 136 of file lslidar_n301_decoder.h.

typedef boost::shared_ptr<LslidarN301Decoder> lslidar_n301_decoder::LslidarN301Decoder::LslidarN301DecoderPtr

Definition at line 135 of file lslidar_n301_decoder.h.

Constructor & Destructor Documentation

lslidar_n301_decoder::LslidarN301Decoder::LslidarN301Decoder	(	ros::NodeHandle &	n,
		ros::NodeHandle &	pn
	)

Definition at line 23 of file lslidar_n301_decoder.cpp.

lslidar_n301_decoder::LslidarN301Decoder::LslidarN301Decoder ( const LslidarN301Decoder & )

delete

lslidar_n301_decoder::LslidarN301Decoder::~LslidarN301Decoder ( )

inline

Definition at line 131 of file lslidar_n301_decoder.h.

Member Function Documentation

bool lslidar_n301_decoder::LslidarN301Decoder::checkPacketValidity ( const RawPacket * packet )

private

Definition at line 95 of file lslidar_n301_decoder.cpp.

bool lslidar_n301_decoder::LslidarN301Decoder::createRosIO ( )

private

Definition at line 56 of file lslidar_n301_decoder.cpp.

void lslidar_n301_decoder::LslidarN301Decoder::decodePacket ( const RawPacket * packet )

private

Definition at line 238 of file lslidar_n301_decoder.cpp.

uint64_t lslidar_n301_decoder::LslidarN301Decoder::get_gps_stamp ( tm t )

private

Definition at line 229 of file lslidar_n301_decoder.cpp.

point_struct lslidar_n301_decoder::LslidarN301Decoder::getMeans ( std::vector< point_struct > clusters )

private

Definition at line 203 of file lslidar_n301_decoder.cpp.

bool lslidar_n301_decoder::LslidarN301Decoder::initialize ( )

Definition at line 68 of file lslidar_n301_decoder.cpp.

bool lslidar_n301_decoder::LslidarN301Decoder::isPointInRange ( const double & distance )

inlineprivate

Definition at line 186 of file lslidar_n301_decoder.h.

bool lslidar_n301_decoder::LslidarN301Decoder::loadParameters ( )

private

Definition at line 37 of file lslidar_n301_decoder.cpp.

LslidarN301Decoder lslidar_n301_decoder::LslidarN301Decoder::operator= ( const LslidarN301Decoder & )

delete

void lslidar_n301_decoder::LslidarN301Decoder::packetCallback ( const lslidar_n301_msgs::LslidarN301PacketConstPtr & msg )

private

Definition at line 328 of file lslidar_n301_decoder.cpp.

void lslidar_n301_decoder::LslidarN301Decoder::publishPointCloud ( )

private

Definition at line 106 of file lslidar_n301_decoder.cpp.

void lslidar_n301_decoder::LslidarN301Decoder::publishScan ( )

private

Definition at line 148 of file lslidar_n301_decoder.cpp.

double lslidar_n301_decoder::LslidarN301Decoder::rawAzimuthToDouble ( const uint16_t & raw_azimuth )

inlineprivate

Definition at line 190 of file lslidar_n301_decoder.h.

Member Data Documentation

double lslidar_n301_decoder::LslidarN301Decoder::angle_base

private

Definition at line 211 of file lslidar_n301_decoder.h.

double lslidar_n301_decoder::LslidarN301Decoder::angle_disable_max

private

Definition at line 217 of file lslidar_n301_decoder.h.

double lslidar_n301_decoder::LslidarN301Decoder::angle_disable_min

private

Definition at line 216 of file lslidar_n301_decoder.h.

std::string lslidar_n301_decoder::LslidarN301Decoder::child_frame_id

private

Definition at line 236 of file lslidar_n301_decoder.h.

double lslidar_n301_decoder::LslidarN301Decoder::cos_azimuth_table[6300]

private

Definition at line 222 of file lslidar_n301_decoder.h.

Firing lslidar_n301_decoder::LslidarN301Decoder::firings[FIRINGS_PER_PACKET]

private

Definition at line 229 of file lslidar_n301_decoder.h.

std::string lslidar_n301_decoder::LslidarN301Decoder::fixed_frame_id

private

Definition at line 235 of file lslidar_n301_decoder.h.

double lslidar_n301_decoder::LslidarN301Decoder::frequency

private

Definition at line 218 of file lslidar_n301_decoder.h.

bool lslidar_n301_decoder::LslidarN301Decoder::is_first_sweep

private

Definition at line 225 of file lslidar_n301_decoder.h.

double lslidar_n301_decoder::LslidarN301Decoder::last_azimuth

private

Definition at line 226 of file lslidar_n301_decoder.h.

double lslidar_n301_decoder::LslidarN301Decoder::max_range

private

Definition at line 215 of file lslidar_n301_decoder.h.

double lslidar_n301_decoder::LslidarN301Decoder::min_range

private

Definition at line 214 of file lslidar_n301_decoder.h.

ros::NodeHandle lslidar_n301_decoder::LslidarN301Decoder::nh

private

Definition at line 232 of file lslidar_n301_decoder.h.

double lslidar_n301_decoder::LslidarN301Decoder::packet_start_time

private

Definition at line 228 of file lslidar_n301_decoder.h.

ros::Subscriber lslidar_n301_decoder::LslidarN301Decoder::packet_sub

private

Definition at line 241 of file lslidar_n301_decoder.h.

uint64_t lslidar_n301_decoder::LslidarN301Decoder::packet_timestamp

private

Definition at line 203 of file lslidar_n301_decoder.h.

ros::NodeHandle lslidar_n301_decoder::LslidarN301Decoder::pnh

private

Definition at line 233 of file lslidar_n301_decoder.h.

sensor_msgs::PointCloud2 lslidar_n301_decoder::LslidarN301Decoder::point_cloud_data

private

Definition at line 239 of file lslidar_n301_decoder.h.

ros::Publisher lslidar_n301_decoder::LslidarN301Decoder::point_cloud_pub

private

Definition at line 243 of file lslidar_n301_decoder.h.

int lslidar_n301_decoder::LslidarN301Decoder::point_num

private

Definition at line 210 of file lslidar_n301_decoder.h.

tm lslidar_n301_decoder::LslidarN301Decoder::pTime

private

Definition at line 201 of file lslidar_n301_decoder.h.

bool lslidar_n301_decoder::LslidarN301Decoder::publish_point_cloud

private

Definition at line 219 of file lslidar_n301_decoder.h.

ros::Publisher lslidar_n301_decoder::LslidarN301Decoder::scan_pub

private

Definition at line 244 of file lslidar_n301_decoder.h.

double lslidar_n301_decoder::LslidarN301Decoder::sin_azimuth_table[6300]

private

Definition at line 223 of file lslidar_n301_decoder.h.

lslidar_n301_msgs::LslidarN301SweepPtr lslidar_n301_decoder::LslidarN301Decoder::sweep_data

private

Definition at line 238 of file lslidar_n301_decoder.h.

uint64_t lslidar_n301_decoder::LslidarN301Decoder::sweep_end_time_gps

private

Definition at line 206 of file lslidar_n301_decoder.h.

uint64_t lslidar_n301_decoder::LslidarN301Decoder::sweep_end_time_hardware

private

Definition at line 207 of file lslidar_n301_decoder.h.

ros::Publisher lslidar_n301_decoder::LslidarN301Decoder::sweep_pub

private

Definition at line 242 of file lslidar_n301_decoder.h.

double lslidar_n301_decoder::LslidarN301Decoder::sweep_start_time

private

Definition at line 227 of file lslidar_n301_decoder.h.

bool lslidar_n301_decoder::LslidarN301Decoder::use_gps_ts

private

Definition at line 220 of file lslidar_n301_decoder.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation