33 #ifndef VELODYNE_POINTCLOUD_POINTCLOUDXYZIR_H 34 #define VELODYNE_POINTCLOUD_POINTCLOUDXYZIR_H 44 PointcloudXYZIR(
const double max_range,
const double min_range,
const std::string& target_frame,
45 const std::string& fixed_frame,
const unsigned int scans_per_block,
50 virtual void setup(
const velodyne_msgs::VelodyneScan::ConstPtr& scan_msg);
52 virtual void addPoint(
float x,
float y,
float z, uint16_t ring, uint16_t azimuth,
float distance,
float intensity);
59 #endif // VELODYNE_POINTCLOUD_POINTCLOUDXYZIR_H sensor_msgs::PointCloud2Iterator< float > iter_z
sensor_msgs::PointCloud2Iterator< float > iter_y
sensor_msgs::PointCloud2Iterator< uint16_t > iter_ring
TFSIMD_FORCE_INLINE tfScalar distance(const Vector3 &v) const
sensor_msgs::PointCloud2Iterator< float > iter_x
TFSIMD_FORCE_INLINE const tfScalar & y() const
boost::shared_ptr< tf::TransformListener > tf_ptr
transform listener
virtual void setup(const velodyne_msgs::VelodyneScan::ConstPtr &scan_msg)
TFSIMD_FORCE_INLINE const tfScalar & x() const
TFSIMD_FORCE_INLINE const tfScalar & z() const
PointcloudXYZIR(const double max_range, const double min_range, const std::string &target_frame, const std::string &fixed_frame, const unsigned int scans_per_block, boost::shared_ptr< tf::TransformListener > tf_ptr=boost::shared_ptr< tf::TransformListener >())
sensor_msgs::PointCloud2Iterator< float > iter_intensity
virtual void addPoint(float x, float y, float z, uint16_t ring, uint16_t azimuth, float distance, float intensity)