velodyne::DataXYZ Class Reference

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

#include <data.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	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 xyzCallback callback, const ros::TransportHints &transport_hints=ros::TransportHints())
	Subscribe to XYZ laser scans.
virtual void	subscribeXYZ (xyz_callback_t xyzCB)
	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 data callback.
xyz_callback_t	xyzCB_

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Detailed Description

Convert Velodyne raw input to XYZ format.

Definition at line 407 of file data.h.

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Constructor & Destructor Documentation

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

Definition at line 410 of file data.h.

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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 352 of file data.cc.

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

Process raw Velodyne packets for an entire revolution.

Reimplemented from velodyne::DataScans.

Definition at line 320 of file data.cc.

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

Definition at line 306 of file data.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 431 of file data.h.

virtual void velodyne::DataXYZ::subscribeXYZ

(

xyz_callback_t

xyzCB

)

[inline, virtual]

Subscribe to XYZ laser scans.

Deprecated:

must separately subscribe to the topic

Definition at line 450 of file data.h.

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Member Data Documentation

xyzCallback velodyne::DataXYZ::cb_ [private]

XYZ data callback.

Reimplemented from velodyne::DataScans.

Definition at line 464 of file data.h.

xyz_callback_t velodyne::DataXYZ::xyzCB_ [private]

Definition at line 463 of file data.h.

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

Definition at line 460 of file data.h.

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

• data.h
• data.cc