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 Member Functions
	SphericalPointCloudSimulator ()

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 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_

Detailed Description

This is a class for jsk_pcl/SphericalPointCloudSimulator nodelet.

Definition at line 83 of file spherical_pointcloud_simulator.h.

Member Typedef Documentation

◆ Config

typedef SphericalPointCloudSimulatorConfig jsk_pcl_ros_utils::SphericalPointCloudSimulator::Config

Definition at line 118 of file spherical_pointcloud_simulator.h.

Constructor & Destructor Documentation

◆ SphericalPointCloudSimulator()

jsk_pcl_ros_utils::SphericalPointCloudSimulator::SphericalPointCloudSimulator ( )

inline

Definition at line 119 of file spherical_pointcloud_simulator.h.

Member Function Documentation

◆ configCallback()

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.

◆ generate()

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.

◆ getPlane()

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.

◆ getPoint()

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.