PointCloudNodelet Class Reference

List of all members.

Public Member Functions
	PointCloudNodelet ()
	~PointCloudNodelet ()
Private Member Functions
void	allocSharedMsg ()
	allocate space for shared PointCloud message
virtual void	onInit ()
void	processXYZ (const std::vector< laserscan_xyz_t > &scan, ros::Time stamp, const std::string &frame_id)
	callback for XYZ points
Private Attributes
DataXYZ *	data_
ros::Publisher	output_
sensor_msgs::PointCloudPtr	pc_
unsigned	pc_next_
ros::Subscriber	velodyne_scan_

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Detailed Description

Definition at line 23 of file pointcloud_nodelet.cc.

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Constructor & Destructor Documentation

PointCloudNodelet::PointCloudNodelet

(

)

[inline]

Definition at line 26 of file pointcloud_nodelet.cc.

PointCloudNodelet::~PointCloudNodelet

(

)

[inline]

Definition at line 30 of file pointcloud_nodelet.cc.

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Member Function Documentation

void PointCloudNodelet::allocSharedMsg

(

)

[private]

allocate space for shared PointCloud message

Postcondition:

pc_ -> to message with enough space for one revolution of the device pc_next = 0

Definition at line 79 of file pointcloud_nodelet.cc.

void PointCloudNodelet::onInit

(

)

[private, virtual]

Definition at line 51 of file pointcloud_nodelet.cc.

void PointCloudNodelet::processXYZ	(	const std::vector< laserscan_xyz_t > &	scan,
		ros::Time	stamp,
		const std::string &	frame_id
	)			[private]

callback for XYZ points

publishes Velodyne data points as a point cloud

Definition at line 100 of file pointcloud_nodelet.cc.

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Member Data Documentation

DataXYZ* PointCloudNodelet::data_ [private]

Definition at line 42 of file pointcloud_nodelet.cc.

ros::Publisher PointCloudNodelet::output_ [private]

Definition at line 44 of file pointcloud_nodelet.cc.

sensor_msgs::PointCloudPtr PointCloudNodelet::pc_ [private]

Definition at line 47 of file pointcloud_nodelet.cc.

unsigned PointCloudNodelet::pc_next_ [private]

Definition at line 48 of file pointcloud_nodelet.cc.

ros::Subscriber PointCloudNodelet::velodyne_scan_ [private]

Definition at line 43 of file pointcloud_nodelet.cc.

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

• pointcloud_nodelet.cc