convert.h
Go to the documentation of this file.
00001 /* -*- mode: C++ -*- */
00002 /*
00003  *  Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
00004  *  Copyright (C) 2011 Jesse Vera
00005  *  Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
00006  *  License: Modified BSD Software License Agreement
00007  *
00008  *  $Id$
00009  */
00010 
00017 #ifndef _VELODYNE_POINTCLOUD_CONVERT_H_
00018 #define _VELODYNE_POINTCLOUD_CONVERT_H_ 1
00019 
00020 #include <ros/ros.h>
00021 
00022 #include <sensor_msgs/PointCloud2.h>
00023 #include <velodyne_pointcloud/rawdata.h>
00024 
00025 #include <dynamic_reconfigure/server.h>
00026 #include <velodyne_pointcloud/VelodyneConfigConfig.h>
00027 
00028 namespace velodyne_pointcloud
00029 {
00030   class Convert
00031   {
00032   public:
00033 
00034     Convert(ros::NodeHandle node, ros::NodeHandle private_nh);
00035     ~Convert() {}
00036 
00037   private:
00038     
00039     void callback(velodyne_pointcloud::VelodyneConfigConfig &config,
00040                 uint32_t level);
00041     void processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg);
00042 
00044     boost::shared_ptr<dynamic_reconfigure::Server<velodyne_pointcloud::
00045       VelodyneConfigConfig> > srv_;
00046     
00047     boost::shared_ptr<velodyne_rawdata::RawData> data_;
00048     ros::Subscriber velodyne_scan_;
00049     ros::Publisher output_;
00050 
00052     typedef struct {
00053       int npackets;                    
00054     } Config;
00055     Config config_;
00056   };
00057 
00058 } // namespace velodyne_pointcloud
00059 
00060 #endif // _VELODYNE_POINTCLOUD_CONVERT_H_


velodyne_pointcloud
Author(s): Jack O'Quin, Piyush Khandelwal, Jesse Vera
autogenerated on Thu Aug 27 2015 15:37:05