TransformNodelet Class Reference

List of all members.

Classes
struct	Config
	configuration parameters More...
Public Member Functions
	TransformNodelet ()
	~TransformNodelet ()
Private Member Functions
void	allocPacketMsg (sensor_msgs::PointCloud &msg)
	allocate space in a single packet PointCloud message
void	allocSharedMsg ()
	allocate space for shared PointCloud message
virtual void	onInit ()
bool	pointInRange (geometry_msgs::Point32 &point)
void	processXYZ (const std::vector< laserscan_xyz_t > &scan, ros::Time stamp, const std::string &frame_id)
	callback for packets in XYZ format
Private Attributes
Config	config_
DataXYZ *	data_
sensor_msgs::PointCloud	inMsg_
	input packet message
tf::TransformListener	listener_
float	max_range2_
float	min_range2_
sensor_msgs::PointCloudPtr	outPtr_
	output message shared pointer
ros::Publisher	output_
int	packetCount_
	count of output packets collected
sensor_msgs::PointCloud	tfMsg_
	transformed packet message
ros::Subscriber	velodyne_scan_

Detailed Description

Definition at line 37 of file transform_nodelet.cc.

Constructor & Destructor Documentation

TransformNodelet::TransformNodelet ( ) [inline]

Definition at line 40 of file transform_nodelet.cc.

TransformNodelet::~TransformNodelet ( ) [inline]

Definition at line 44 of file transform_nodelet.cc.

Member Function Documentation

void TransformNodelet::allocPacketMsg ( sensor_msgs::PointCloud & msg ) [private]

allocate space in a single packet PointCloud message

Parameters:

msg

message with enough space for one packet

Definition at line 143 of file transform_nodelet.cc.

void TransformNodelet::allocSharedMsg ( ) [private]

allocate space for shared PointCloud message

Postcondition:: outPtr_ -> message with enough space reserved for the configured number of packets

Definition at line 159 of file transform_nodelet.cc.

void TransformNodelet::onInit ( ) [private, virtual]

nodelet initialization

Definition at line 93 of file transform_nodelet.cc.

bool TransformNodelet::pointInRange ( geometry_msgs::Point32 & point ) [inline, private]

in-line test whether a point is in range

Definition at line 58 of file transform_nodelet.cc.

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

callback for packets in XYZ format

converts Velodyne data for a single packet into a point cloud transforms the packet point cloud into the target frame collects transformed packets into a larger message (generally a full revolution) periodically publishes those collected transformed data as a point cloud

Definition at line 181 of file transform_nodelet.cc.