velodyne::DataScans Class Reference

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

#include <data.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	processRaw (const raw_packet_t *raw, size_t npackets)
	Process raw Velodyne packets for an entire revolution.
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.
virtual void	subscribeScans (scans_callback_t scansCB)
	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
scans_callback_t	scansCB_

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Detailed Description

Convert Velodyne raw input to laserscans format.

Definition at line 320 of file data.h.

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Constructor & Destructor Documentation

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

Definition at line 323 of file data.h.

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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

Todo:

test against pdump2 with delayed normalize_angle()

Definition at line 183 of file data.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

Reimplemented from velodyne::Data.

Reimplemented in velodyne::DataXYZ.

Definition at line 270 of file data.cc.

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

Process raw Velodyne packets for an entire revolution.

Reimplemented from velodyne::Data.

Reimplemented in velodyne::DataXYZ.

Definition at line 236 of file data.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 344 of file data.h.

virtual void velodyne::DataScans::subscribeScans

(

scans_callback_t

scansCB

)

[inline, virtual]

Subscribe to laser scans.

Deprecated:

must separately subscribe to the topic

Definition at line 363 of file data.h.

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Member Data Documentation

scanCallback velodyne::DataScans::cb_ [private]

scan data callback

Reimplemented in velodyne::DataXYZ.

Definition at line 377 of file data.h.

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

Definition at line 373 of file data.h.

scans_callback_t velodyne::DataScans::scansCB_ [private]

Definition at line 376 of file data.h.

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

• data.h
• data.cc