Class LoadPcdState

Defined in File load_pcd_state.hpp

Inheritance Relationships

Base Type

public yasmin::State

Class Documentation

class LoadPcdState : public yasmin::State 

Loads a PCD file into pcl::PCLPointCloud2.

The file path is taken from the state-local parameter file_path. The loaded cloud is written to the blackboard key output_cloud. Additional metadata is written to sensor_origin, sensor_orientation, and pcd_version.

Public Functions

LoadPcdState()

~LoadPcdState() override

virtual void configure() override

std::string execute(yasmin::Blackboard::SharedPtr blackboard) override