Velodyne::DataXYZ Class Reference

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

#include <data_xyz.h>

Inheritance diagram for Velodyne::DataXYZ:

[legend]

List of all members.

Public Member Functions
	DataXYZ (std::string ofile="", std::string anglesFile="")
virtual int	print (void)
	print laser scans in XYZ format
virtual void	processPacket (const velodyne_msgs::VelodynePacket *pkt, const std::string &frame_id)
	Process a Velodyne packet message.
ros::Subscriber	subscribe (ros::NodeHandle node, const std::string &topic, uint32_t queue_size, const xyzCallback callback, const ros::TransportHints &transport_hints=ros::TransportHints())
	Subscribe to XYZ laser scans.
Protected Member Functions
void	scan2xyz (const laserscan_t *scan, laserscan_xyz_t *point)
Protected Attributes
std::vector< laserscan_xyz_t >	xyzScans_
Private Attributes
xyzCallback	cb_
	XYZ packet callback.

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Detailed Description

Convert Velodyne raw input to XYZ format.

Definition at line 52 of file data_xyz.h.

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Constructor & Destructor Documentation

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

Definition at line 34 of file data_xyz.cc.

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Member Function Documentation

int Velodyne::DataXYZ::print

(

void

)

[virtual]

print laser scans in XYZ format

Returns:

0, if successful; errno value, for failure

Todo:

allow exact number of packets argument

Reimplemented from Velodyne::DataScans.

Definition at line 83 of file data_xyz.cc.

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

Process a Velodyne packet message.

Reimplemented from Velodyne::DataScans.

Definition at line 56 of file data_xyz.cc.

void Velodyne::DataXYZ::scan2xyz	(	const laserscan_t *	scan,
		laserscan_xyz_t *	point
	)			[inline, protected]

Definition at line 42 of file data_xyz.cc.

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

Subscribe to XYZ 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 XYZ data
	transport_hints	optional transport hints for this subscription

Definition at line 69 of file data_xyz.h.

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Member Data Documentation

xyzCallback Velodyne::DataXYZ::cb_ [private]

XYZ packet callback.

Reimplemented from Velodyne::DataScans.

Definition at line 90 of file data_xyz.h.

std::vector<laserscan_xyz_t> Velodyne::DataXYZ::xyzScans_ [protected]

Definition at line 87 of file data_xyz.h.

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

• data_xyz.h
• data_xyz.cc