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Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl_ros::PCLNodelet Class Reference

PCLNodelet represents the base PCL Nodelet class. All PCL nodelets should inherit from this class. More...

#include <pcl_nodelet.h>

Inheritance diagram for pcl_ros::PCLNodelet:
Inheritance graph
[legend]

List of all members.

Public Types

typedef boost::shared_ptr
< const std::vector< int > > 
IndicesConstPtr
typedef boost::shared_ptr
< std::vector< int > > 
IndicesPtr
typedef pcl::ModelCoefficients ModelCoefficients
typedef ModelCoefficients::ConstPtr ModelCoefficientsConstPtr
typedef ModelCoefficients::Ptr ModelCoefficientsPtr
typedef pcl::PointCloud
< pcl::PointXYZ > 
PointCloud
typedef sensor_msgs::PointCloud2 PointCloud2
typedef PointCloud::ConstPtr PointCloudConstPtr
typedef PointCloud::Ptr PointCloudPtr
typedef pcl::PointIndices PointIndices
typedef PointIndices::ConstPtr PointIndicesConstPtr
typedef PointIndices::Ptr PointIndicesPtr

Public Member Functions

 PCLNodelet ()
 Empty constructor.

Protected Member Functions

bool isValid (const PointCloud2::ConstPtr &cloud, const std::string &topic_name="input")
 Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero).
bool isValid (const PointCloudConstPtr &cloud, const std::string &topic_name="input")
 Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero).
bool isValid (const PointIndicesConstPtr &indices, const std::string &topic_name="indices")
 Test whether a given PointIndices message is "valid" (i.e., has values).
bool isValid (const ModelCoefficientsConstPtr &model, const std::string &topic_name="model")
 Test whether a given ModelCoefficients message is "valid" (i.e., has values).
virtual void onInit ()
 Nodelet initialization routine. Reads in global parameters used by all nodelets.

Protected Attributes

bool approximate_sync_
 True if we use an approximate time synchronizer versus an exact one (false by default).
bool latched_indices_
 Set to true if the indices topic is latched.
int max_queue_size_
 The maximum queue size (default: 3).
boost::shared_ptr
< ros::NodeHandle
pnh_
 The ROS NodeHandle used for parameters, publish/subscribe, etc.
ros::Publisher pub_output_
 The output PointCloud publisher.
message_filters::Subscriber
< PointIndices
sub_indices_filter_
 The message filter subscriber for PointIndices.
message_filters::Subscriber
< PointCloud
sub_input_filter_
 The message filter subscriber for PointCloud2.
tf::TransformListener tf_listener_
 TF listener object.
bool use_indices_
 Set to true if point indices are used.

Detailed Description

PCLNodelet represents the base PCL Nodelet class. All PCL nodelets should inherit from this class.

Definition at line 69 of file pcl_nodelet.h.


Member Typedef Documentation

typedef boost::shared_ptr<const std::vector<int> > pcl_ros::PCLNodelet::IndicesConstPtr

Reimplemented in pcl_ros::Feature, and pcl_ros::Filter.

Definition at line 87 of file pcl_nodelet.h.

typedef boost::shared_ptr<std::vector<int> > pcl_ros::PCLNodelet::IndicesPtr

Reimplemented in pcl_ros::Feature, and pcl_ros::Filter.

Definition at line 86 of file pcl_nodelet.h.

Definition at line 82 of file pcl_nodelet.h.

Definition at line 84 of file pcl_nodelet.h.

Definition at line 83 of file pcl_nodelet.h.

typedef sensor_msgs::PointCloud2 pcl_ros::PCLNodelet::PointCloud2
typedef PointCloud::ConstPtr pcl_ros::PCLNodelet::PointCloudConstPtr
typedef PointCloud::Ptr pcl_ros::PCLNodelet::PointCloudPtr

Definition at line 78 of file pcl_nodelet.h.

Definition at line 80 of file pcl_nodelet.h.

Definition at line 79 of file pcl_nodelet.h.


Constructor & Destructor Documentation

Empty constructor.

Definition at line 90 of file pcl_nodelet.h.


Member Function Documentation

bool pcl_ros::PCLNodelet::isValid ( const PointCloud2::ConstPtr &  cloud,
const std::string &  topic_name = "input" 
) [inline, protected]

Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero).

Parameters:
cloudthe point cloud to test
topic_namean optional topic name (only used for printing, defaults to "input")

Definition at line 140 of file pcl_nodelet.h.

bool pcl_ros::PCLNodelet::isValid ( const PointCloudConstPtr cloud,
const std::string &  topic_name = "input" 
) [inline, protected]

Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero).

Parameters:
cloudthe point cloud to test
topic_namean optional topic name (only used for printing, defaults to "input")

Definition at line 156 of file pcl_nodelet.h.

bool pcl_ros::PCLNodelet::isValid ( const PointIndicesConstPtr indices,
const std::string &  topic_name = "indices" 
) [inline, protected]

Test whether a given PointIndices message is "valid" (i.e., has values).

Parameters:
indicesthe point indices message to test
topic_namean optional topic name (only used for printing, defaults to "indices")

Definition at line 172 of file pcl_nodelet.h.

bool pcl_ros::PCLNodelet::isValid ( const ModelCoefficientsConstPtr model,
const std::string &  topic_name = "model" 
) [inline, protected]

Test whether a given ModelCoefficients message is "valid" (i.e., has values).

Parameters:
modelthe model coefficients to test
topic_namean optional topic name (only used for printing, defaults to "model")

Definition at line 187 of file pcl_nodelet.h.

virtual void pcl_ros::PCLNodelet::onInit ( ) [inline, protected, virtual]

Member Data Documentation

True if we use an approximate time synchronizer versus an exact one (false by default).

Definition at line 130 of file pcl_nodelet.h.

Set to true if the indices topic is latched.

If use_indices_ is true, the ~input and ~indices topics generally must be synchronised in time. By setting this flag to true, the most recent value from ~indices can be used instead of requiring a synchronised message.

Definition at line 115 of file pcl_nodelet.h.

The maximum queue size (default: 3).

Definition at line 127 of file pcl_nodelet.h.

boost::shared_ptr<ros::NodeHandle> pcl_ros::PCLNodelet::pnh_ [protected]

The ROS NodeHandle used for parameters, publish/subscribe, etc.

Definition at line 91 of file pcl_nodelet.h.

The output PointCloud publisher.

Reimplemented in pcl_ros::TestPingPong, pcl_ros::TestTalker, and pcl_ros::ExtractPolygonalPrismData.

Definition at line 124 of file pcl_nodelet.h.

The message filter subscriber for PointIndices.

Definition at line 121 of file pcl_nodelet.h.

The message filter subscriber for PointCloud2.

Reimplemented in pcl_ros::Filter.

Definition at line 118 of file pcl_nodelet.h.

TF listener object.

Definition at line 133 of file pcl_nodelet.h.

Set to true if point indices are used.

When receiving a point cloud, if use_indices_ is false, the entire point cloud is processed for the given operation. If use_indices_ is true, then the ~indices topic is read to get the vector of point indices specifying the subset of the point cloud that will be used for the operation. In the case where use_indices_ is true, the ~input and ~indices topics must be synchronised in time, either exact or within a specified jitter. See also latched_indices_ and approximate_sync.

Definition at line 107 of file pcl_nodelet.h.


The documentation for this class was generated from the following file:
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pcl_ros
Author(s): Maintained by Radu Bogdan Rusu
autogenerated on Tue Mar 5 2013 13:54:41