Velodyne::DataScans Class Reference

Convert Velodyne raw input to laserscans format. More...

#include <data_scans.h>

Inheritance diagram for Velodyne::DataScans:

[legend]

List of all members.

Public Member Functions
	DataScans (std::string ofile="", std::string anglesFile="")
virtual int	print (void)
	print laser scan data
virtual void	processPacket (const velodyne_msgs::VelodynePacket *pkt, const std::string &frame_id)
	Process Velodyne packet.
ros::Subscriber	subscribe (ros::NodeHandle node, const std::string &topic, uint32_t queue_size, const scanCallback callback, const ros::TransportHints &transport_hints=ros::TransportHints())
	Subscribe to laser scans.
Protected Member Functions
void	packet2scans (const raw_packet_t *raw, laserscan_t *scans)
	convert raw packet to laserscan format
Protected Attributes
std::vector< laserscan_t >	scans_
Private Attributes
scanCallback	cb_
	scan data callback

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Detailed Description

Convert Velodyne raw input to laserscans format.

Definition at line 57 of file data_scans.h.

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Constructor & Destructor Documentation

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

Definition at line 37 of file data_scans.cc.

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Member Function Documentation

void Velodyne::DataScans::packet2scans	(	const raw_packet_t *	raw,
		laserscan_t *	scans
	)			[protected]

convert raw packet to laserscan format

Definition at line 46 of file data_scans.cc.

int Velodyne::DataScans::print

(

void

)

[virtual]

print laser scan data

This is not exactly the same format used by pcapconvert -t3, but it's similar.

Returns:

0, if successful; errno value, for failure

Todo:

allow exact number of packets argument

Implements Velodyne::Data.

Reimplemented in Velodyne::DataXYZ.

Definition at line 122 of file data_scans.cc.

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

Process Velodyne packet.

Implements Velodyne::Data.

Reimplemented in Velodyne::DataXYZ.

Definition at line 98 of file data_scans.cc.

ros::Subscriber Velodyne::DataScans::subscribe	(	ros::NodeHandle	node,
		const std::string &	topic,
		uint32_t	queue_size,
		const scanCallback	callback,
		const ros::TransportHints &	transport_hints = ros::TransportHints()
	)			[inline]

Subscribe to laser scans.

Parameters:

	node	the ros::NodeHandle to use to subscribe.
	base_topic	the topic to subscribe to.
	queue_size	the subscription queue size
	callback	function or method to receive scan data
	transport_hints	optional transport hints for this subscription

Definition at line 74 of file data_scans.h.

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Member Data Documentation

scanCallback Velodyne::DataScans::cb_ [private]

scan data callback

Reimplemented in Velodyne::DataXYZ.

Definition at line 95 of file data_scans.h.

std::vector<laserscan_t> Velodyne::DataScans::scans_ [protected]

Definition at line 92 of file data_scans.h.

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

• data_scans.h
• data_scans.cc