urg_stamped::UrgStampedNode Class Reference

#include <urg_stamped.h>

Classes
struct	ResponseErrorCount

Public Member Functions
void	spin ()
	UrgStampedNode ()

Protected Types
enum	DelayEstimState {   DelayEstimState::IDLE, DelayEstimState::STOPPING_SCAN, DelayEstimState::STATE_CHECKING, DelayEstimState::ESTIMATION_STARTING,   DelayEstimState::ESTIMATING, DelayEstimState::EXITING }

Protected Member Functions
void	cbClose ()
void	cbConnect ()
void	cbII (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const std::map< std::string, std::string > &params)
void	cbIISend (const boost::posix_time::ptime &time_send)
void	cbM (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const scip2::ScanData &scan, const bool has_intensity)
void	cbPP (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const std::map< std::string, std::string > &params)
void	cbQT (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status)
void	cbRB (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status)
void	cbRS (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status)
void	cbTM (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const scip2::Timestamp &time_device)
void	cbTMSend (const boost::posix_time::ptime &time_send)
void	cbVV (const boost::posix_time::ptime &time_read, const std::string &echo_back, const std::string &status, const std::map< std::string, std::string > &params)
void	delayEstimation (const ros::TimerEvent &event=ros::TimerEvent())
bool	detectDeviceTimeJump (const boost::posix_time::ptime &time_response, const uint64_t &device_timestamp)
void	errorCountIncrement (const std::string &status="")
void	hardReset ()
void	retryTM (const ros::TimerEvent &event=ros::TimerEvent())
void	sendII ()
void	sleepRandom (const double min, const double max)
void	softReset ()
void	timeSync (const ros::TimerEvent &event=ros::TimerEvent())

Protected Attributes
double	allowed_device_time_origin_diff_
double	communication_delay_filter_alpha_
std::list< ros::Duration >	communication_delays_
DelayEstimState	delay_estim_state_
scip2::Connection::Ptr	device_
device_time_origin::DriftedTime	device_time_origin_
std::list< ros::Time >	device_time_origins_
ResponseErrorCount	error_count_
int	error_count_max_
ros::Duration	estimated_communication_delay_
bool	estimated_communication_delay_init_
bool	failed_
std::string	last_measurement_state_
ros::Time	last_sync_time_
sensor_msgs::LaserScan	msg_base_
ros::NodeHandle	nh_
std::vector< ros::Duration >	on_scan_communication_delays_
ros::NodeHandle	pnh_
ros::Publisher	pub_scan_
bool	publish_intensity_
std::default_random_engine	random_engine_
scip2::Protocol::Ptr	scip_
uint32_t	step_max_
uint32_t	step_min_
std::uniform_real_distribution< double >	sync_interval_
ros::Time	t0_
boost::posix_time::ptime	time_ii_request
boost::posix_time::ptime	time_tm_request
ros::Timer	timer_delay_estim_
ros::Timer	timer_retry_tm_
ros::Timer	timer_sync_
FirstOrderHPF< double >	timestamp_hpf_
FirstOrderLPF< double >	timestamp_lpf_
TimestampMovingAverage	timestamp_moving_average_
TimestampOutlierRemover	timestamp_outlier_removal_
ros::Duration	tm_command_interval_
size_t	tm_iter_num_
size_t	tm_median_window_
bool	tm_success_
int	tm_try_count_
int	tm_try_max_
scip2::Walltime< 24 >	walltime_

Detailed Description

Definition at line 45 of file urg_stamped.h.

Member Enumeration Documentation

DelayEstimState

enum urg_stamped::UrgStampedNode::DelayEstimState

strongprotected

Enumerator
IDLE
STOPPING_SCAN
STATE_CHECKING
ESTIMATION_STARTING
ESTIMATING
EXITING

Definition at line 65 of file urg_stamped.h.

Constructor & Destructor Documentation

UrgStampedNode()

urg_stamped::UrgStampedNode::UrgStampedNode

(

)

Definition at line 707 of file urg_stamped.cpp.

Member Function Documentation

cbClose()

void urg_stamped::UrgStampedNode::cbClose ( )

protected

Definition at line 537 of file urg_stamped.cpp.

cbConnect()

void urg_stamped::UrgStampedNode::cbConnect ( )

protected

Definition at line 531 of file urg_stamped.cpp.

cbII()

void urg_stamped::UrgStampedNode::cbII ( const boost::posix_time::ptime &  time_read, const std::string &  echo_back, const std::string &  status, const std::map< std::string, std::string > &  params  )

protected

Definition at line 330 of file urg_stamped.cpp.

cbIISend()

void urg_stamped::UrgStampedNode::cbIISend ( const boost::posix_time::ptime &  time_send )

protected

Definition at line 325 of file urg_stamped.cpp.

cbM()

void urg_stamped::UrgStampedNode::cbM ( const boost::posix_time::ptime &  time_read, const std::string &  echo_back, const std::string &  status, const scip2::ScanData &  scan, const bool  has_intensity  )

protected

Definition at line 46 of file urg_stamped.cpp.

cbPP()

void urg_stamped::UrgStampedNode::cbPP ( const boost::posix_time::ptime &  time_read, const std::string &  echo_back, const std::string &  status, const std::map< std::string, std::string > &  params  )

protected

Definition at line 247 of file urg_stamped.cpp.

cbQT()

void urg_stamped::UrgStampedNode::cbQT ( const boost::posix_time::ptime &  time_read, const std::string &  echo_back, const std::string &  status  )

protected

Definition at line 458 of file urg_stamped.cpp.

cbRB()

void urg_stamped::UrgStampedNode::cbRB ( const boost::posix_time::ptime &  time_read, const std::string &  echo_back, const std::string &  status  )

protected

Definition at line 479 of file urg_stamped.cpp.

cbRS()

void urg_stamped::UrgStampedNode::cbRS ( const boost::posix_time::ptime &  time_read, const std::string &  echo_back, const std::string &  status  )

protected

Definition at line 503 of file urg_stamped.cpp.

cbTM()

void urg_stamped::UrgStampedNode::cbTM ( const boost::posix_time::ptime &  time_read, const std::string &  echo_back, const std::string &  status, const scip2::Timestamp &  time_device  )

protected

Definition at line 136 of file urg_stamped.cpp.

cbTMSend()

void urg_stamped::UrgStampedNode::cbTMSend ( const boost::posix_time::ptime &  time_send )

protected

Definition at line 131 of file urg_stamped.cpp.

cbVV()

void urg_stamped::UrgStampedNode::cbVV ( const boost::posix_time::ptime &  time_read, const std::string &  echo_back, const std::string &  status, const std::map< std::string, std::string > &  params  )

protected

Definition at line 292 of file urg_stamped.cpp.

delayEstimation()

void urg_stamped::UrgStampedNode::delayEstimation ( const ros::TimerEvent &  event = ros::TimerEvent() )

protected

Definition at line 569 of file urg_stamped.cpp.

detectDeviceTimeJump()

bool urg_stamped::UrgStampedNode::detectDeviceTimeJump ( const boost::posix_time::ptime &  time_response, const uint64_t &  device_timestamp  )

protected

Definition at line 682 of file urg_stamped.cpp.

errorCountIncrement()

void urg_stamped::UrgStampedNode::errorCountIncrement ( const std::string &  status = "" )

protected

Definition at line 614 of file urg_stamped.cpp.

hardReset()

void urg_stamped::UrgStampedNode::hardReset ( )

protected

Definition at line 670 of file urg_stamped.cpp.

retryTM()

void urg_stamped::UrgStampedNode::retryTM ( const ros::TimerEvent &  event = ros::TimerEvent() )

protected

Definition at line 582 of file urg_stamped.cpp.

sendII()

void urg_stamped::UrgStampedNode::sendII ( )

protected

Definition at line 551 of file urg_stamped.cpp.

sleepRandom()

void urg_stamped::UrgStampedNode::sleepRandom ( const double  min, const double  max  )

protected

Definition at line 676 of file urg_stamped.cpp.

softReset()

void urg_stamped::UrgStampedNode::softReset ( )

protected

Definition at line 665 of file urg_stamped.cpp.

spin()

void urg_stamped::UrgStampedNode::spin

(

)

Definition at line 832 of file urg_stamped.cpp.

timeSync()

void urg_stamped::UrgStampedNode::timeSync ( const ros::TimerEvent &  event = ros::TimerEvent() )

protected

Definition at line 558 of file urg_stamped.cpp.

Member Data Documentation

allowed_device_time_origin_diff_

double urg_stamped::UrgStampedNode::allowed_device_time_origin_diff_

protected

Definition at line 88 of file urg_stamped.h.

communication_delay_filter_alpha_

double urg_stamped::UrgStampedNode::communication_delay_filter_alpha_

protected

Definition at line 82 of file urg_stamped.h.

communication_delays_

std::list<ros::Duration> urg_stamped::UrgStampedNode::communication_delays_

protected

Definition at line 76 of file urg_stamped.h.

delay_estim_state_

DelayEstimState urg_stamped::UrgStampedNode::delay_estim_state_

protected

Definition at line 74 of file urg_stamped.h.

device_

scip2::Connection::Ptr urg_stamped::UrgStampedNode::device_

protected

Definition at line 59 of file urg_stamped.h.

device_time_origin_

device_time_origin::DriftedTime urg_stamped::UrgStampedNode::device_time_origin_

protected

Definition at line 87 of file urg_stamped.h.

device_time_origins_

std::list<ros::Time> urg_stamped::UrgStampedNode::device_time_origins_

protected

Definition at line 77 of file urg_stamped.h.

error_count_

ResponseErrorCount urg_stamped::UrgStampedNode::error_count_

protected

Definition at line 112 of file urg_stamped.h.

error_count_max_

int urg_stamped::UrgStampedNode::error_count_max_

protected

Definition at line 114 of file urg_stamped.h.

estimated_communication_delay_

ros::Duration urg_stamped::UrgStampedNode::estimated_communication_delay_

protected

Definition at line 78 of file urg_stamped.h.

estimated_communication_delay_init_

bool urg_stamped::UrgStampedNode::estimated_communication_delay_init_

protected

Definition at line 81 of file urg_stamped.h.

failed_

bool urg_stamped::UrgStampedNode::failed_

protected

Definition at line 63 of file urg_stamped.h.

last_measurement_state_

std::string urg_stamped::UrgStampedNode::last_measurement_state_

protected

Definition at line 117 of file urg_stamped.h.

last_sync_time_

ros::Time urg_stamped::UrgStampedNode::last_sync_time_

protected

Definition at line 94 of file urg_stamped.h.

msg_base_

sensor_msgs::LaserScan urg_stamped::UrgStampedNode::msg_base_

protected

Definition at line 55 of file urg_stamped.h.

nh_

ros::NodeHandle urg_stamped::UrgStampedNode::nh_

protected

Definition at line 48 of file urg_stamped.h.

on_scan_communication_delays_

std::vector<ros::Duration> urg_stamped::UrgStampedNode::on_scan_communication_delays_

protected

Definition at line 85 of file urg_stamped.h.

pnh_

ros::NodeHandle urg_stamped::UrgStampedNode::pnh_

protected

Definition at line 49 of file urg_stamped.h.

pub_scan_

ros::Publisher urg_stamped::UrgStampedNode::pub_scan_

protected

Definition at line 50 of file urg_stamped.h.

publish_intensity_

bool urg_stamped::UrgStampedNode::publish_intensity_

protected

Definition at line 62 of file urg_stamped.h.

random_engine_

std::default_random_engine urg_stamped::UrgStampedNode::random_engine_

protected

Definition at line 92 of file urg_stamped.h.

scip_

scip2::Protocol::Ptr urg_stamped::UrgStampedNode::scip_

protected

Definition at line 60 of file urg_stamped.h.

step_max_

uint32_t urg_stamped::UrgStampedNode::step_max_

protected

Definition at line 57 of file urg_stamped.h.

step_min_

uint32_t urg_stamped::UrgStampedNode::step_min_

protected

Definition at line 56 of file urg_stamped.h.

sync_interval_

std::uniform_real_distribution<double> urg_stamped::UrgStampedNode::sync_interval_

protected

Definition at line 93 of file urg_stamped.h.

t0_

ros::Time urg_stamped::UrgStampedNode::t0_

protected

Definition at line 96 of file urg_stamped.h.

time_ii_request

boost::posix_time::ptime urg_stamped::UrgStampedNode::time_ii_request

protected

Definition at line 84 of file urg_stamped.h.

time_tm_request

boost::posix_time::ptime urg_stamped::UrgStampedNode::time_tm_request

protected

Definition at line 75 of file urg_stamped.h.

timer_delay_estim_

ros::Timer urg_stamped::UrgStampedNode::timer_delay_estim_

protected

Definition at line 52 of file urg_stamped.h.

timer_retry_tm_

ros::Timer urg_stamped::UrgStampedNode::timer_retry_tm_

protected

Definition at line 53 of file urg_stamped.h.

timer_sync_

ros::Timer urg_stamped::UrgStampedNode::timer_sync_

protected

Definition at line 51 of file urg_stamped.h.

timestamp_hpf_

FirstOrderHPF<double> urg_stamped::UrgStampedNode::timestamp_hpf_

protected

Definition at line 98 of file urg_stamped.h.

timestamp_lpf_

FirstOrderLPF<double> urg_stamped::UrgStampedNode::timestamp_lpf_

protected

Definition at line 97 of file urg_stamped.h.

timestamp_moving_average_

TimestampMovingAverage urg_stamped::UrgStampedNode::timestamp_moving_average_

protected

Definition at line 100 of file urg_stamped.h.

timestamp_outlier_removal_

TimestampOutlierRemover urg_stamped::UrgStampedNode::timestamp_outlier_removal_

protected

Definition at line 99 of file urg_stamped.h.

tm_command_interval_

ros::Duration urg_stamped::UrgStampedNode::tm_command_interval_

protected

Definition at line 116 of file urg_stamped.h.

tm_iter_num_

size_t urg_stamped::UrgStampedNode::tm_iter_num_

protected

Definition at line 79 of file urg_stamped.h.

tm_median_window_

size_t urg_stamped::UrgStampedNode::tm_median_window_

protected

Definition at line 80 of file urg_stamped.h.

tm_success_

bool urg_stamped::UrgStampedNode::tm_success_

protected

Definition at line 113 of file urg_stamped.h.

tm_try_count_

int urg_stamped::UrgStampedNode::tm_try_count_

protected

Definition at line 119 of file urg_stamped.h.

tm_try_max_

int urg_stamped::UrgStampedNode::tm_try_max_

protected

Definition at line 118 of file urg_stamped.h.

walltime_

scip2::Walltime<24> urg_stamped::UrgStampedNode::walltime_

protected

Definition at line 90 of file urg_stamped.h.

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

• urg_stamped.h
• urg_stamped.cpp