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Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
carla::ros2::CarlaPointCloudPublisher Class Referenceabstract

#include <CarlaPointCloudPublisher.h>

+ Inheritance diagram for carla::ros2::CarlaPointCloudPublisher:

Public Member Functions

 CarlaPointCloudPublisher (CarlaPointCloudPublisher &&) noexcept=default
 
 CarlaPointCloudPublisher (const CarlaPointCloudPublisher &)=delete
 
 CarlaPointCloudPublisher (std::string base_topic_name, std::string frame_id, bool exact_topic=false)
 
CarlaPointCloudPublisher & operator= (CarlaPointCloudPublisher &&) noexcept=default
 
CarlaPointCloudPublisher & operator= (const CarlaPointCloudPublisher &)=delete
 
bool Publish () override
 
bool WritePointCloud (std::int32_t seconds, std::uint32_t nanoseconds, std::uint32_t height, std::uint32_t width, const std::uint8_t *data)
 
 ~CarlaPointCloudPublisher () override
 
- Public Member Functions inherited from carla::ros2::BasePublisher
 BasePublisher ()=default
 
 BasePublisher (BasePublisher &&)=delete
 
 BasePublisher (const BasePublisher &)=delete
 
 BasePublisher (std::string base_topic_name)
 
 BasePublisher (std::string base_topic_name, std::string frame_id)
 
 BasePublisher (void *actor, std::string base_topic_name, std::string frame_id)
 
void * GetActor () const noexcept
 
const std::string & GetBaseTopicName () const noexcept
 
const std::string & GetFrameId () const noexcept
 
BasePublisher & operator= (BasePublisher &&)=delete
 
BasePublisher & operator= (const BasePublisher &)=delete
 
virtual ~BasePublisher ()=default
 

Protected Member Functions

virtual std::vector< std::uint8_t > ComputePointCloud (std::uint32_t height, std::uint32_t width, const std::uint8_t *data) const =0
 
virtual std::size_t GetFieldDescriptorCount () const =0
 
virtual const PointFieldDescriptor * GetFieldDescriptors () const =0
 
virtual std::size_t GetPointSize () const =0
 

Private Member Functions

bool WritePointCloud (std::int32_t seconds, std::uint32_t nanoseconds, std::uint32_t height, std::uint32_t width, std::vector< std::uint8_t > data)
 

Private Attributes

std::shared_ptr< PublisherImpl< CarlaPointCloudMsgTraits > > _impl
 

Additional Inherited Members

- Protected Attributes inherited from carla::ros2::BasePublisher
void * _actor {nullptr}
 
std::string _base_topic_name
 
std::string _frame_id
 

Detailed Description

Definition at line 37 of file CarlaPointCloudPublisher.h.

Constructor & Destructor Documentation

◆ CarlaPointCloudPublisher() [1/3]

carla::ros2::CarlaPointCloudPublisher::CarlaPointCloudPublisher ( std::string  base_topic_name,
std::string  frame_id,
bool  exact_topic = false 
)

Definition at line 62 of file CarlaPointCloudPublisher.cpp.

References _impl, carla::ros2::BasePublisher::GetBaseTopicName(), and carla::log_error().

◆ ~CarlaPointCloudPublisher()

carla::ros2::CarlaPointCloudPublisher::~CarlaPointCloudPublisher ( )
overridedefault

◆ CarlaPointCloudPublisher() [2/3]

carla::ros2::CarlaPointCloudPublisher::CarlaPointCloudPublisher ( const CarlaPointCloudPublisher &  )
delete

◆ CarlaPointCloudPublisher() [3/3]

carla::ros2::CarlaPointCloudPublisher::CarlaPointCloudPublisher ( CarlaPointCloudPublisher &&  )
defaultnoexcept

Member Function Documentation

◆ ComputePointCloud()

virtual std::vector< std::uint8_t > carla::ros2::CarlaPointCloudPublisher::ComputePointCloud ( std::uint32_t  height,
std::uint32_t  width,
const std::uint8_t *  data 
) const
protectedpure virtual

Implemented in carla::ros2::CarlaDVSPointCloudPublisher, carla::ros2::CarlaLidarPublisher, carla::ros2::CarlaRadarPublisher, and carla::ros2::CarlaSemanticLidarPublisher.

Referenced by WritePointCloud().

◆ GetFieldDescriptorCount()

virtual std::size_t carla::ros2::CarlaPointCloudPublisher::GetFieldDescriptorCount ( ) const
protectedpure virtual

Implemented in carla::ros2::CarlaDVSPointCloudPublisher, carla::ros2::CarlaLidarPublisher, carla::ros2::CarlaRadarPublisher, and carla::ros2::CarlaSemanticLidarPublisher.

Referenced by WritePointCloud().

◆ GetFieldDescriptors()

virtual const PointFieldDescriptor * carla::ros2::CarlaPointCloudPublisher::GetFieldDescriptors ( ) const
protectedpure virtual

Implemented in carla::ros2::CarlaDVSPointCloudPublisher, carla::ros2::CarlaLidarPublisher, carla::ros2::CarlaRadarPublisher, and carla::ros2::CarlaSemanticLidarPublisher.

Referenced by WritePointCloud().

◆ GetPointSize()

virtual std::size_t carla::ros2::CarlaPointCloudPublisher::GetPointSize ( ) const
protectedpure virtual

Implemented in carla::ros2::CarlaDVSPointCloudPublisher, carla::ros2::CarlaLidarPublisher, carla::ros2::CarlaRadarPublisher, and carla::ros2::CarlaSemanticLidarPublisher.

Referenced by WritePointCloud().

◆ operator=() [1/2]

CarlaPointCloudPublisher & carla::ros2::CarlaPointCloudPublisher::operator= ( CarlaPointCloudPublisher &&  )
defaultnoexcept

◆ operator=() [2/2]

CarlaPointCloudPublisher & carla::ros2::CarlaPointCloudPublisher::operator= ( const CarlaPointCloudPublisher &  )
delete

◆ Publish()

bool carla::ros2::CarlaPointCloudPublisher::Publish ( )
overridevirtual

Implements carla::ros2::BasePublisher.

Definition at line 73 of file CarlaPointCloudPublisher.cpp.

References _impl.

◆ WritePointCloud() [1/2]

bool carla::ros2::CarlaPointCloudPublisher::WritePointCloud ( std::int32_t  seconds,
std::uint32_t  nanoseconds,
std::uint32_t  height,
std::uint32_t  width,
const std::uint8_t *  data 
)

Definition at line 77 of file CarlaPointCloudPublisher.cpp.

References ComputePointCloud(), and WritePointCloud().

Referenced by carla::ros2::CarlaLidarPublisher::WriteExtendedPointCloud(), carla::ros2::CarlaLidarPublisher::WritePointCloud(), and WritePointCloud().

◆ WritePointCloud() [2/2]

bool carla::ros2::CarlaPointCloudPublisher::WritePointCloud ( std::int32_t  seconds,
std::uint32_t  nanoseconds,
std::uint32_t  height,
std::uint32_t  width,
std::vector< std::uint8_t >  data 
)
private

Definition at line 88 of file CarlaPointCloudPublisher.cpp.

References _impl, GetFieldDescriptorCount(), GetFieldDescriptors(), carla::ros2::BasePublisher::GetFrameId(), and GetPointSize().

Member Data Documentation

◆ _impl

std::shared_ptr<PublisherImpl<CarlaPointCloudMsgTraits> > carla::ros2::CarlaPointCloudPublisher::_impl
private

Definition at line 78 of file CarlaPointCloudPublisher.h.

Referenced by CarlaPointCloudPublisher(), Publish(), and WritePointCloud().

The documentation for this class was generated from the following files:
Generated by doxygen 1.9.8