data_scans.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_scans.h 779 2010-11-13 19:41:40Z jack.oquin $
 */

#ifndef __VELODYNE_DATA_SCAN_H
#define __VELODYNE_DATA_SCAN_H

#include <velodyne/data_base.h>

namespace Velodyne
{
  typedef struct laserscan
  {
    float range;                        
    float heading;                      
    float pitch;                        
    uint16_t revolution;
    uint8_t  laser_number;
    uint8_t  intensity;
  } laserscan_t;

  typedef boost::function<void(const std::vector<laserscan_t> &scan,
                               ros::Time time,
                               const std::string &frame_id)> scanCallback;

  class DataScans: public Data
  {
  public:

    DataScans(std::string ofile="", std::string anglesFile="");
    virtual int print(void);
    virtual void processPacket(const velodyne_msgs::VelodynePacket *pkt,
                               const std::string &frame_id);

    ros::Subscriber subscribe(ros::NodeHandle node,
                              const std::string &topic,
                              uint32_t queue_size,
                              const scanCallback callback,
                              const ros::TransportHints &transport_hints
                                      = ros::TransportHints())
    {
      ROS_INFO("generic scan callback defined");
      cb_ = callback;
      return node.subscribe(topic, queue_size,
                            &Data::processScan, (Data *) this,
                            transport_hints);
    }

  protected:
    void packet2scans(const raw_packet_t *raw, laserscan_t *scans);

    // derived class data
    std::vector<laserscan_t> scans_;

  private:
    scanCallback cb_;                   
  };

} // velodyne namespace

#endif // __VELODYNE_DATA_SCAN_H

---

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