Velodyne::Data Class Reference

Base Velodyne data class -- not used directly. More...

#include <data_base.h>

Inheritance diagram for Velodyne::Data:

[legend]

List of all members.

Public Member Functions
	Data (std::string ofile="", std::string anglesFile="")
virtual int	getParams (void)
	Get ROS parameters.
virtual int	print (void)=0
	Print data to human-readable file.
virtual void	processPacket (const velodyne_msgs::VelodynePacket *pkt, const std::string &frame_id)=0
	Process a Velodyne packet.
void	processScan (const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg)
	handle ROS topic message
virtual int	setup (void)
	Set up for data processing.
virtual void	shutdown (void)
	Shut down data processing.
virtual	~Data ()
Protected Attributes
std::string	anglesFile_
	correction angles file name
correction_angles	lower_ [SCANS_PER_BLOCK]
std::string	ofile_
	output file name for print()
FILE *	ofp_
	output file descriptor
velodyne_msgs::VelodyneScan::ConstPtr	rawScan_
bool	uninitialized_
	false after successful setup()
correction_angles	upper_ [SCANS_PER_BLOCK]

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Detailed Description

Base Velodyne data class -- not used directly.

Definition at line 117 of file data_base.h.

---

Constructor & Destructor Documentation

Velodyne::Data::Data	(	std::string	ofile = "",
		std::string	anglesFile = ""
	)

Definition at line 42 of file data_base.cc.

virtual Velodyne::Data::~Data

(

)

[inline, virtual]

Definition at line 122 of file data_base.h.

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Member Function Documentation

int Velodyne::Data::getParams

(

void

)

[virtual]

Get ROS parameters.

ROS parameter settings override constructor options

Returns:

0, if successful; errno value, for failure

get ROS parameters

ROS parameter settings override constructor options

Returns:

0, if successful; errno value, for failure

Definition at line 62 of file data_base.cc.

virtual int Velodyne::Data::print

(

void

)

[pure virtual]

Print data to human-readable file.

Returns:

0, if successful; errno value, for failure

Implemented in Velodyne::DataScans, and Velodyne::DataXYZ.

virtual void Velodyne::Data::processPacket	(	const velodyne_msgs::VelodynePacket *	pkt,
		const std::string &	frame_id
	)			[pure virtual]

Process a Velodyne packet.

Parameters:

pkt

-> VelodynePacket message

Implemented in Velodyne::DataScans, and Velodyne::DataXYZ.

void Velodyne::Data::processScan

(

const velodyne_msgs::VelodyneScan::ConstPtr &

scanMsg

)

handle ROS topic message

This is the main entry point for handling ROS messages from the "velodyne/packets" topic, published by the driver nodelet. This is not a virtual function; derived classes may replace processPacket(), instead.

By default, the driver publishes packets for a complete rotation of the device in each message, but that is not guaranteed.

handle raw scan ROS topic message

Definition at line 83 of file data_base.cc.

int Velodyne::Data::setup

(

void

)

[virtual]

Set up for data processing.

Perform initializations needed before data processing can begin:

• open output file (if any)
• read device-specific correction angles

Returns:

0 if successful; errno value for failure

Set up for on-line operation.

Definition at line 100 of file data_base.cc.

virtual void Velodyne::Data::shutdown

(

void

)

[inline, virtual]

Shut down data processing.

Definition at line 174 of file data_base.h.

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Member Data Documentation

std::string Velodyne::Data::anglesFile_ [protected]

correction angles file name

Definition at line 184 of file data_base.h.

correction_angles Velodyne::Data::lower_[SCANS_PER_BLOCK] [protected]

correction angles indexed by laser within bank

Todo:

combine them into a single array, lower followed by upper

Definition at line 197 of file data_base.h.

std::string Velodyne::Data::ofile_ [protected]

output file name for print()

configuration parameters

Definition at line 183 of file data_base.h.

FILE* Velodyne::Data::ofp_ [protected]

output file descriptor

runtime state

Definition at line 187 of file data_base.h.

velodyne_msgs::VelodyneScan::ConstPtr Velodyne::Data::rawScan_ [protected]

latest raw scan message received

Definition at line 191 of file data_base.h.

bool Velodyne::Data::uninitialized_ [protected]

false after successful setup()

Definition at line 188 of file data_base.h.

correction_angles Velodyne::Data::upper_[SCANS_PER_BLOCK] [protected]

Definition at line 198 of file data_base.h.

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

• data_base.h
• data_base.cc