pcl_ros::PointCloudConcatenateFieldsSynchronizer Class Reference

PointCloudConcatenateFieldsSynchronizer is a special form of data synchronizer: it listens for a set of input PointCloud messages on the same topic, checks their timestamps, and concatenates their fields together into a single PointCloud output message. More...

#include <concatenate_fields.h>

Inheritance diagram for pcl_ros::PointCloudConcatenateFieldsSynchronizer:

Public Types
typedef sensor_msgs::PointCloud2	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr

Public Member Functions
void	input_callback (const PointCloudConstPtr &cloud)
void	onInit ()
	PointCloudConcatenateFieldsSynchronizer ()
	Empty constructor. More...
	PointCloudConcatenateFieldsSynchronizer (int queue_size)
	Empty constructor. More...
void	subscribe ()
void	unsubscribe ()
virtual	~PointCloudConcatenateFieldsSynchronizer ()
	Empty destructor. More...
Public Member Functions inherited from nodelet_topic_tools::NodeletLazy
	NodeletLazy ()
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 ()

Private Attributes
int	input_messages_
	The number of input messages that we expect on the input topic. More...
int	maximum_queue_size_
	The maximum number of messages that we can store in the queue. More...
double	maximum_seconds_
	The maximum number of seconds to wait until we drop the synchronization. More...
ros::Publisher	pub_output_
	The output PointCloud publisher. More...
std::map< ros::Time, std::vector< PointCloudConstPtr > >	queue_
	A queue for messages. More...
ros::Subscriber	sub_input_
	The input PointCloud subscriber. More...

Additional Inherited Members
Protected Member Functions inherited from nodelet_topic_tools::NodeletLazy
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size, bool latch=false)
virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)
virtual void	onInitPostProcess ()
virtual void	warnNeverSubscribedCallback (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 inherited from nodelet_topic_tools::NodeletLazy
boost::mutex	connection_mutex_
ConnectionStatus	connection_status_
bool	ever_subscribed_
bool	lazy_
boost::shared_ptr< ros::NodeHandle >	nh_
boost::shared_ptr< ros::NodeHandle >	pnh_
std::vector< ros::Publisher >	publishers_
ros::WallTimer	timer_ever_subscribed_
bool	verbose_connection_

Detailed Description

PointCloudConcatenateFieldsSynchronizer is a special form of data synchronizer: it listens for a set of input PointCloud messages on the same topic, checks their timestamps, and concatenates their fields together into a single PointCloud output message.

Author

Radu Bogdan Rusu

Definition at line 57 of file concatenate_fields.h.

Member Typedef Documentation

typedef sensor_msgs::PointCloud2 pcl_ros::PointCloudConcatenateFieldsSynchronizer::PointCloud

Definition at line 60 of file concatenate_fields.h.

typedef PointCloud::ConstPtr pcl_ros::PointCloudConcatenateFieldsSynchronizer::PointCloudConstPtr

Definition at line 62 of file concatenate_fields.h.

typedef PointCloud::Ptr pcl_ros::PointCloudConcatenateFieldsSynchronizer::PointCloudPtr

Definition at line 61 of file concatenate_fields.h.

Constructor & Destructor Documentation

pcl_ros::PointCloudConcatenateFieldsSynchronizer::PointCloudConcatenateFieldsSynchronizer ( )

inline

Empty constructor.

Definition at line 65 of file concatenate_fields.h.

pcl_ros::PointCloudConcatenateFieldsSynchronizer::PointCloudConcatenateFieldsSynchronizer ( int  queue_size )

inline

Empty constructor.

Parameters

queue_size

the maximum queue size

Definition at line 70 of file concatenate_fields.h.

virtual pcl_ros::PointCloudConcatenateFieldsSynchronizer::~PointCloudConcatenateFieldsSynchronizer ( )

inlinevirtual

Empty destructor.

Definition at line 73 of file concatenate_fields.h.

Member Function Documentation

void pcl_ros::PointCloudConcatenateFieldsSynchronizer::input_callback

(

const PointCloudConstPtr &

cloud

)

Definition at line 87 of file concatenate_fields.cpp.

void pcl_ros::PointCloudConcatenateFieldsSynchronizer::onInit ( )

virtual

Author

Radu Bogdan Rusu

Reimplemented from nodelet_topic_tools::NodeletLazy.

Definition at line 48 of file concatenate_fields.cpp.

void pcl_ros::PointCloudConcatenateFieldsSynchronizer::subscribe ( )

virtual

Implements nodelet_topic_tools::NodeletLazy.

Definition at line 73 of file concatenate_fields.cpp.

void pcl_ros::PointCloudConcatenateFieldsSynchronizer::unsubscribe ( )

virtual

Implements nodelet_topic_tools::NodeletLazy.

Definition at line 80 of file concatenate_fields.cpp.

Member Data Documentation

int pcl_ros::PointCloudConcatenateFieldsSynchronizer::input_messages_

private

The number of input messages that we expect on the input topic.

Definition at line 88 of file concatenate_fields.h.

int pcl_ros::PointCloudConcatenateFieldsSynchronizer::maximum_queue_size_

private

The maximum number of messages that we can store in the queue.

Definition at line 91 of file concatenate_fields.h.

double pcl_ros::PointCloudConcatenateFieldsSynchronizer::maximum_seconds_

private

The maximum number of seconds to wait until we drop the synchronization.

Definition at line 94 of file concatenate_fields.h.

ros::Publisher pcl_ros::PointCloudConcatenateFieldsSynchronizer::pub_output_

private

The output PointCloud publisher.

Definition at line 85 of file concatenate_fields.h.

std::map<ros::Time, std::vector<PointCloudConstPtr> > pcl_ros::PointCloudConcatenateFieldsSynchronizer::queue_

private

A queue for messages.

Definition at line 97 of file concatenate_fields.h.

ros::Subscriber pcl_ros::PointCloudConcatenateFieldsSynchronizer::sub_input_

private

The input PointCloud subscriber.

Definition at line 82 of file concatenate_fields.h.

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

• concatenate_fields.h
• concatenate_fields.cpp