velodyne::Data Class Reference

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

#include <data.h>

Inheritance diagram for velodyne::Data:

[legend]

List of all members.

Public Member Functions
	Data (std::string ofile="", std::string anglesFile="")
void	getMsgHeaderFields (ros::Time &stamp, std::string &frame_id) const
	Get time stamp and frame from latest ROS message header.
virtual int	getParams (void)
	Get ROS parameters.
virtual int	print (void)
	Print data to human-readable file.
virtual void	processRaw (const raw_packet_t *raw, size_t npackets)
	Process raw Velodyne packets for an entire revolution.
void	processRawScan (const velodyne_common::RawScan::ConstPtr &raw_scan)
	handle raw scan ROS topic message
virtual int	setup (void)
	Set up for data processing.
virtual void	shutdown (void)
	Shut down data processing.
void	subscribeRaw (raw_callback_t rawCB)
	Subscribe to raw packets for a each revolution.
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
raw_callback_t	rawCB_
	raw data callback
velodyne_common::RawScan::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 138 of file data.h.

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Constructor & Destructor Documentation

velodyne::Data::Data	(	std::string	ofile = "",
		std::string	anglesFile = ""
	)			[inline]

Definition at line 141 of file data.h.

virtual velodyne::Data::~Data

(

)

[inline, virtual]

Definition at line 153 of file data.h.

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Member Function Documentation

void velodyne::Data::getMsgHeaderFields	(	ros::Time &	stamp,
		std::string &	frame_id
	)			const [inline]

Get time stamp and frame from latest ROS message header.

This will always reflect the current message while any callback function is running.

Definition at line 180 of file data.h.

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 46 of file data.cc.

virtual int velodyne::Data::print

(

void

)

[inline, virtual]

Print data to human-readable file.

Returns:

0, if successful; errno value, for failure

Reimplemented in velodyne::DataScans, and velodyne::DataXYZ.

Definition at line 203 of file data.h.

void velodyne::Data::processRaw	(	const raw_packet_t *	raw,
		size_t	npackets
	)			[virtual]

Process raw Velodyne packets for an entire revolution.

Parameters:

	raw	-> buffer containing raw packet contents
	npackets	number of packets in the buffer

Reimplemented in velodyne::DataScans, and velodyne::DataXYZ.

Definition at line 79 of file data.cc.

void velodyne::Data::processRawScan

(

const velodyne_common::RawScan::ConstPtr &

raw_scan

)

handle raw scan ROS topic message

This is the main entry point for handling ROS messages from the /velodyne/rawscan topic, published by the velodyne_read (device driver) node. This is not a virtual function; derived classes may replace processRaw(), instead.

Typically, velodyne_read publishes all the data for a single rotation of the device in each message.

Subscribe via the method-oriented ROS interface, like this:

           velodyne::Data *data = new velodyne::Data();
     
           ros::Subscriber velodyne_scan =
             node.subscribe("velodyne/rawscan", 1,
                            &velodyne::Data::processRawScan, data,
                            ros::TransportHints().tcpNoDelay(true));
        

Definition at line 67 of file data.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 86 of file data.cc.

virtual void velodyne::Data::shutdown

(

void

)

[inline, virtual]

Shut down data processing.

Definition at line 254 of file data.h.

void velodyne::Data::subscribeRaw

(

raw_callback_t

rawCB

)

[inline]

Subscribe to raw packets for a each revolution.

Definition at line 261 of file data.h.

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Member Data Documentation

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

correction angles file name

Definition at line 271 of file data.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 285 of file data.h.

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

output file name for print()

configuration parameters

Definition at line 270 of file data.h.

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

output file descriptor

runtime state

Definition at line 274 of file data.h.

raw_callback_t velodyne::Data::rawCB_ [protected]

raw data callback

Definition at line 275 of file data.h.

velodyne_common::RawScan::ConstPtr velodyne::Data::rawScan_ [protected]

latest raw scan message received

Definition at line 279 of file data.h.

bool velodyne::Data::uninitialized_ [protected]

false after successful setup()

Definition at line 276 of file data.h.

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

Definition at line 286 of file data.h.

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

• data.h
• data.cc