data_base.h

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/* -*- mode: C++ -*-
 *
 *  Copyright (C) 2007 Austin Robot Technology, Yaxin Liu, Patrick Beeson
 *  Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
 *
 *  License: Modified BSD Software License Agreement
 *
 *  $Id: data_base.h 818 2010-11-20 01:43:43Z jack.oquin $
 */

#ifndef __VELODYNE_DATA_BASE_H
#define __VELODYNE_DATA_BASE_H

#include <errno.h>
#include <stdint.h>
#include <string>
#include <boost/format.hpp>

#include <ros/ros.h>
#include <velodyne_common/RawScan.h>
#include <velodyne_msgs/VelodyneScan.h>

namespace Velodyne
{

  static const int SIZE_BLOCK = 100;
  static const int RAW_SCAN_SIZE = 3;
  static const int SCANS_PER_BLOCK = 32;
  static const int BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE);

  static const float ROTATION_RESOLUTION = 0.01f; 
  static const float ROTATION_MAX_UNITS = 36000; 
  static const float DISTANCE_MAX = 130.0f;        
  static const float DISTANCE_RESOLUTION = 0.002f; 
  static const float DISTANCE_MAX_UNITS = (DISTANCE_MAX
                                           / DISTANCE_RESOLUTION + 1.0);
  static const uint16_t UPPER_BANK = 0xeeff;
  static const uint16_t LOWER_BANK = 0xddff;

  typedef struct raw_block
  {
    uint16_t header;        
    uint16_t rotation;      
    uint8_t  data[BLOCK_DATA_SIZE];
  } raw_block_t;

  union two_bytes
  {
    uint16_t uint;
    uint8_t  bytes[2];
  };

  static const int PACKET_SIZE = 1206;
  static const int BLOCKS_PER_PACKET = 12;
  static const int PACKET_STATUS_SIZE = 4;
  static const int SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET);
  static const int PACKETS_PER_REV = 260;
  static const int SCANS_PER_REV = (SCANS_PER_PACKET * PACKETS_PER_REV);

  typedef struct raw_packet
  {
    raw_block_t blocks[BLOCKS_PER_PACKET];
    uint16_t revolution;
    uint8_t status[PACKET_STATUS_SIZE]; 
  } raw_packet_t;

  struct correction_angles
  {
    float rotational;
    float vertical;
    float offset1, offset2, offset3;
    int   enabled;
  };

  class Data
  {
  public:
    Data(std::string ofile="", std::string anglesFile="");

    virtual ~Data() {}

    virtual int getParams(void);

    virtual int print(void) = 0;

    void processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg);

    virtual void processPacket(const velodyne_msgs::VelodynePacket *pkt,
                               const std::string &frame_id) = 0;

    virtual int setup(void);

    virtual void shutdown(void)
    {
      ros::shutdown();                  // break out of main ros::spin()
      uninitialized_ = true;
    }

  protected:

    std::string ofile_;                 
    std::string anglesFile_;            

    FILE *ofp_;                         
    bool uninitialized_;                

    velodyne_msgs::VelodyneScan::ConstPtr rawScan_;

    correction_angles lower_[SCANS_PER_BLOCK];
    correction_angles upper_[SCANS_PER_BLOCK];
  };

} // velodyne namespace

#endif // __VELODYNE_DATA_BASE_H

---

velodyne_common
Author(s): Jack O'Quin, Patrick Beeson, Michael Quinlan, Yaxin Liu
autogenerated on Fri Jan 11 10:05:54 2013