Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
scan_tools::LaserOrthoProjector Class Reference

#include <laser_ortho_projector.h>

Public Member Functions

 LaserOrthoProjector (ros::NodeHandle nh, ros::NodeHandle nh_private)
 
virtual ~LaserOrthoProjector ()
 

Private Types

typedef sensor_msgs::Imu ImuMsg
 
typedef pcl::PointCloud< PointTPointCloudT
 
typedef pcl::PointXYZ PointT
 
typedef geometry_msgs::PoseStamped PoseMsg
 

Private Member Functions

void createCache (const sensor_msgs::LaserScan::ConstPtr &scan_msg)
 
bool getBaseToLaserTf (const sensor_msgs::LaserScan::ConstPtr &scan_msg)
 
void getOrthoTf (const tf::Transform &world_to_base, tf::Transform &world_to_ortho)
 
void imuCallback (const ImuMsg::ConstPtr &imu_msg)
 
void poseCallback (const PoseMsg::ConstPtr &pose_msg)
 
void scanCallback (const sensor_msgs::LaserScan::ConstPtr &scan_msg)
 

Private Attributes

std::vector< double > a_cos_
 
std::vector< double > a_sin_
 
std::string base_frame_
 
tf::Transform base_to_laser_
 
ros::Publisher cloud_publisher_
 
ros::Subscriber imu_subscriber_
 
bool initialized_
 
PointT nan_point_
 
ros::NodeHandle nh_
 
ros::NodeHandle nh_private_
 
std::string ortho_frame_
 
tf::Transform ortho_to_laser_
 
ros::Subscriber pose_subscriber_
 
bool publish_tf_
 
ros::Subscriber scan_subscriber_
 
tf::TransformBroadcaster tf_broadcaster_
 
tf::TransformListener tf_listener_
 
bool use_imu_
 
bool use_pose_
 
std::string world_frame_
 

Detailed Description

Definition at line 51 of file laser_ortho_projector.h.

Member Typedef Documentation

typedef sensor_msgs::Imu scan_tools::LaserOrthoProjector::ImuMsg
private

Definition at line 57 of file laser_ortho_projector.h.

Definition at line 54 of file laser_ortho_projector.h.

typedef pcl::PointXYZ scan_tools::LaserOrthoProjector::PointT
private

Definition at line 53 of file laser_ortho_projector.h.

typedef geometry_msgs::PoseStamped scan_tools::LaserOrthoProjector::PoseMsg
private

Definition at line 56 of file laser_ortho_projector.h.

Constructor & Destructor Documentation

scan_tools::LaserOrthoProjector::LaserOrthoProjector ( ros::NodeHandle  nh,
ros::NodeHandle  nh_private 
)

Definition at line 36 of file laser_ortho_projector.cpp.

scan_tools::LaserOrthoProjector::~LaserOrthoProjector ( )
virtual

Definition at line 95 of file laser_ortho_projector.cpp.

Member Function Documentation

void scan_tools::LaserOrthoProjector::createCache ( const sensor_msgs::LaserScan::ConstPtr &  scan_msg)
private

Definition at line 243 of file laser_ortho_projector.cpp.

bool scan_tools::LaserOrthoProjector::getBaseToLaserTf ( const sensor_msgs::LaserScan::ConstPtr &  scan_msg)
private

Definition at line 223 of file laser_ortho_projector.cpp.

void scan_tools::LaserOrthoProjector::getOrthoTf ( const tf::Transform world_to_base,
tf::Transform world_to_ortho 
)
private

Definition at line 146 of file laser_ortho_projector.cpp.

void scan_tools::LaserOrthoProjector::imuCallback ( const ImuMsg::ConstPtr &  imu_msg)
private

Definition at line 100 of file laser_ortho_projector.cpp.

void scan_tools::LaserOrthoProjector::poseCallback ( const PoseMsg::ConstPtr &  pose_msg)
private

Definition at line 125 of file laser_ortho_projector.cpp.

void scan_tools::LaserOrthoProjector::scanCallback ( const sensor_msgs::LaserScan::ConstPtr &  scan_msg)
private

Definition at line 158 of file laser_ortho_projector.cpp.

Member Data Documentation

std::vector<double> scan_tools::LaserOrthoProjector::a_cos_
private

Definition at line 95 of file laser_ortho_projector.h.

std::vector<double> scan_tools::LaserOrthoProjector::a_sin_
private

Definition at line 94 of file laser_ortho_projector.h.

std::string scan_tools::LaserOrthoProjector::base_frame_
private

Definition at line 83 of file laser_ortho_projector.h.

tf::Transform scan_tools::LaserOrthoProjector::base_to_laser_
private

Definition at line 99 of file laser_ortho_projector.h.

ros::Publisher scan_tools::LaserOrthoProjector::cloud_publisher_
private

Definition at line 71 of file laser_ortho_projector.h.

ros::Subscriber scan_tools::LaserOrthoProjector::imu_subscriber_
private

Definition at line 74 of file laser_ortho_projector.h.

bool scan_tools::LaserOrthoProjector::initialized_
private

Definition at line 92 of file laser_ortho_projector.h.

PointT scan_tools::LaserOrthoProjector::nan_point_
private

Definition at line 97 of file laser_ortho_projector.h.

ros::NodeHandle scan_tools::LaserOrthoProjector::nh_
private

Definition at line 68 of file laser_ortho_projector.h.

ros::NodeHandle scan_tools::LaserOrthoProjector::nh_private_
private

Definition at line 69 of file laser_ortho_projector.h.

std::string scan_tools::LaserOrthoProjector::ortho_frame_
private

Definition at line 84 of file laser_ortho_projector.h.

tf::Transform scan_tools::LaserOrthoProjector::ortho_to_laser_
private

Definition at line 100 of file laser_ortho_projector.h.

ros::Subscriber scan_tools::LaserOrthoProjector::pose_subscriber_
private

Definition at line 75 of file laser_ortho_projector.h.

bool scan_tools::LaserOrthoProjector::publish_tf_
private

Definition at line 86 of file laser_ortho_projector.h.

ros::Subscriber scan_tools::LaserOrthoProjector::scan_subscriber_
private

Definition at line 73 of file laser_ortho_projector.h.

tf::TransformBroadcaster scan_tools::LaserOrthoProjector::tf_broadcaster_
private

Definition at line 78 of file laser_ortho_projector.h.

tf::TransformListener scan_tools::LaserOrthoProjector::tf_listener_
private

Definition at line 77 of file laser_ortho_projector.h.

bool scan_tools::LaserOrthoProjector::use_imu_
private

Definition at line 88 of file laser_ortho_projector.h.

bool scan_tools::LaserOrthoProjector::use_pose_
private

Definition at line 87 of file laser_ortho_projector.h.

std::string scan_tools::LaserOrthoProjector::world_frame_
private

Definition at line 82 of file laser_ortho_projector.h.


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


laser_ortho_projector
Author(s): Ivan Dryanovski, William Morris
autogenerated on Mon Jun 10 2019 15:08:37