naoqi::converter::LaserConverter Class Reference

#include <laser.hpp>

Inheritance diagram for naoqi::converter::LaserConverter:

Public Member Functions
void	callAll (const std::vector< message_actions::MessageAction > &actions)
	LaserConverter (const std::string &name, const float &frequency, const qi::SessionPtr &session)
void	registerCallback (message_actions::MessageAction action, Callback_t cb)
void	reset ()
void	setLaserRanges (const float &range_min, const float &range_max)
Public Member Functions inherited from naoqi::converter::BaseConverter< LaserConverter >
	BaseConverter (const std::string &name, float frequency, qi::SessionPtr session)
float	frequency () const
std::string	name () const
virtual	~BaseConverter ()

Private Types
typedef boost::function< void(sensor_msgs::LaserScan &)>	Callback_t

Private Attributes
std::map< message_actions::MessageAction, Callback_t >	callbacks_
sensor_msgs::LaserScan	msg_
qi::AnyObject	p_memory_
float	range_max_
float	range_min_

Additional Inherited Members
Protected Attributes inherited from naoqi::converter::BaseConverter< LaserConverter >
float	frequency_
std::string	name_
bool	record_enabled_
const robot::Robot &	robot_
qi::SessionPtr	session_

Detailed Description

Definition at line 37 of file laser.hpp.

Member Typedef Documentation

typedef boost::function<void(sensor_msgs::LaserScan&)> naoqi::converter::LaserConverter::Callback_t

private

Definition at line 40 of file laser.hpp.

Constructor & Destructor Documentation

naoqi::converter::LaserConverter::LaserConverter	(	const std::string &	name,
		const float &	frequency,
		const qi::SessionPtr &	session
	)

Definition at line 131 of file laser.cpp.

Member Function Documentation

void naoqi::converter::LaserConverter::callAll

(

const std::vector< message_actions::MessageAction > &

actions

)

there are two things done here: 1.) we have to reorder the array indices since there are ordered from left-to-right, ros laserscans are ordered from 2.) in order to combine all lasers into one message, we transform (statically) from laser frame into base_footprint

Definition at line 142 of file laser.cpp.

void naoqi::converter::LaserConverter::registerCallback	(	message_actions::MessageAction	action,
		Callback_t	cb
	)

Definition at line 137 of file laser.cpp.

void naoqi::converter::LaserConverter::reset

(

)

Definition at line 213 of file laser.cpp.

void naoqi::converter::LaserConverter::setLaserRanges	(	const float &	range_min,
		const float &	range_max
	)

Definition at line 224 of file laser.cpp.

Member Data Documentation

std::map<message_actions::MessageAction, Callback_t> naoqi::converter::LaserConverter::callbacks_

private

Definition at line 59 of file laser.hpp.

sensor_msgs::LaserScan naoqi::converter::LaserConverter::msg_

private

Definition at line 60 of file laser.hpp.

qi::AnyObject naoqi::converter::LaserConverter::p_memory_

private

Definition at line 55 of file laser.hpp.

float naoqi::converter::LaserConverter::range_max_

private

Definition at line 57 of file laser.hpp.

float naoqi::converter::LaserConverter::range_min_

private

Definition at line 56 of file laser.hpp.

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

• laser.hpp
• laser.cpp