velodyne_rawdata::DataContainerBase Class Reference

#include <datacontainerbase.h>

Inheritance diagram for velodyne_rawdata::DataContainerBase:

Classes
struct	Config

Public Member Functions
virtual void	addPoint (float x, float y, float z, const uint16_t ring, const uint16_t azimuth, const float distance, const float intensity, const float time)=0
bool	calculateTransformMatrix (Eigen::Affine3f &matrix, const std::string &target_frame, const std::string &source_frame, const ros::Time &time)
bool	computeTransformToFixed (const ros::Time &packet_time)
bool	computeTransformToTarget (const ros::Time &scan_time)
void	configure (const double max_range, const double min_range, const std::string fixed_frame, const std::string target_frame)
	DataContainerBase (const double max_range, const double min_range, const std::string &target_frame, const std::string &fixed_frame, const unsigned int init_width, const unsigned int init_height, const bool is_dense, const unsigned int scans_per_packet, int fields,...)
const sensor_msgs::PointCloud2 &	finishCloud ()
void	manage_tf_buffer ()
virtual void	newLine ()=0
bool	pointInRange (float range)
virtual void	setup (const velodyne_msgs::VelodyneScan::ConstPtr &scan_msg)
void	transformPoint (float &x, float &y, float &z)

Public Attributes
sensor_msgs::PointCloud2	cloud

Protected Attributes
Config	config_
std::string	sensor_frame
std::shared_ptr< tf2_ros::Buffer >	tf_buffer
std::shared_ptr< tf2_ros::TransformListener >	tf_listener
Eigen::Affine3f	tf_matrix_to_fixed
Eigen::Affine3f	tf_matrix_to_target

Detailed Description

Definition at line 47 of file datacontainerbase.h.

Constructor & Destructor Documentation

DataContainerBase()

velodyne_rawdata::DataContainerBase::DataContainerBase ( const double  max_range, const double  min_range, const std::string &  target_frame, const std::string &  fixed_frame, const unsigned int  init_width, const unsigned int  init_height, const bool  is_dense, const unsigned int  scans_per_packet, int  fields,   ...  )

inline

Definition at line 50 of file datacontainerbase.h.

Member Function Documentation

addPoint()

virtual void velodyne_rawdata::DataContainerBase::addPoint ( float  x, float  y, float  z, const uint16_t  ring, const uint16_t  azimuth, const float  distance, const float  intensity, const float  time  )

pure virtual

Implemented in velodyne_pointcloud::OrganizedCloudXYZIRT, and velodyne_pointcloud::PointcloudXYZIRT.

calculateTransformMatrix()

bool velodyne_rawdata::DataContainerBase::calculateTransformMatrix ( Eigen::Affine3f &  matrix, const std::string &  target_frame, const std::string &  source_frame, const ros::Time &  time  )

inline

Definition at line 187 of file datacontainerbase.h.

computeTransformToFixed()

bool velodyne_rawdata::DataContainerBase::computeTransformToFixed ( const ros::Time &  packet_time )

inline

Definition at line 233 of file datacontainerbase.h.

computeTransformToTarget()

bool velodyne_rawdata::DataContainerBase::computeTransformToTarget ( const ros::Time &  scan_time )

inline

Definition at line 222 of file datacontainerbase.h.

configure()

void velodyne_rawdata::DataContainerBase::configure ( const double  max_range, const double  min_range, const std::string  fixed_frame, const std::string  target_frame  )

inline

Definition at line 174 of file datacontainerbase.h.

finishCloud()

const sensor_msgs::PointCloud2& velodyne_rawdata::DataContainerBase::finishCloud ( )

inline

Definition at line 119 of file datacontainerbase.h.

manage_tf_buffer()

void velodyne_rawdata::DataContainerBase::manage_tf_buffer ( )

inline

Definition at line 142 of file datacontainerbase.h.

newLine()

virtual void velodyne_rawdata::DataContainerBase::newLine ( )

pure virtual

Implemented in velodyne_pointcloud::OrganizedCloudXYZIRT, and velodyne_pointcloud::PointcloudXYZIRT.

pointInRange()

bool velodyne_rawdata::DataContainerBase::pointInRange ( float  range )

inline

Definition at line 260 of file datacontainerbase.h.

setup()

virtual void velodyne_rawdata::DataContainerBase::setup ( const velodyne_msgs::VelodyneScan::ConstPtr &  scan_msg )

inlinevirtual

Reimplemented in velodyne_pointcloud::OrganizedCloudXYZIRT, and velodyne_pointcloud::PointcloudXYZIRT.

Definition at line 103 of file datacontainerbase.h.

transformPoint()

void velodyne_rawdata::DataContainerBase::transformPoint ( float &  x, float &  y, float &  z  )

inline

Definition at line 244 of file datacontainerbase.h.

Member Data Documentation

cloud

sensor_msgs::PointCloud2 velodyne_rawdata::DataContainerBase::cloud

Definition at line 185 of file datacontainerbase.h.

config_

Config velodyne_rawdata::DataContainerBase::config_

protected

Definition at line 266 of file datacontainerbase.h.

sensor_frame

std::string velodyne_rawdata::DataContainerBase::sensor_frame

protected

Definition at line 271 of file datacontainerbase.h.

tf_buffer

std::shared_ptr<tf2_ros::Buffer> velodyne_rawdata::DataContainerBase::tf_buffer

protected

Definition at line 268 of file datacontainerbase.h.

tf_listener

std::shared_ptr<tf2_ros::TransformListener> velodyne_rawdata::DataContainerBase::tf_listener

protected

Definition at line 267 of file datacontainerbase.h.

tf_matrix_to_fixed

Eigen::Affine3f velodyne_rawdata::DataContainerBase::tf_matrix_to_fixed

protected

Definition at line 269 of file datacontainerbase.h.

tf_matrix_to_target

Eigen::Affine3f velodyne_rawdata::DataContainerBase::tf_matrix_to_target

protected

Definition at line 270 of file datacontainerbase.h.

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

• datacontainerbase.h