carla::ros2::CarlaLidarPublisher Class Reference

#include <CarlaLidarPublisher.h>

Inheritance diagram for carla::ros2::CarlaLidarPublisher:

Public Member Functions
	CarlaLidarPublisher (std::string base_topic_name, std::string frame_id, bool exact_topic=false)
bool	WriteExtendedPointCloud (std::int32_t seconds, std::uint32_t nanoseconds, std::uint32_t height, std::uint32_t width, const std::uint8_t *data, const std::uint32_t *channel_point_counts, std::size_t channel_count, const std::vector< float > &vertical_angles)
bool	WritePointCloud (std::int32_t seconds, std::uint32_t nanoseconds, std::uint32_t height, std::uint32_t width, const std::uint8_t *data)
Public Member Functions inherited from carla::ros2::CarlaPointCloudPublisher
	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

Private Member Functions
std::vector< std::uint8_t >	ComputePointCloud (std::uint32_t height, std::uint32_t width, const std::uint8_t *data) const override
std::size_t	GetFieldDescriptorCount () const override
const PointFieldDescriptor *	GetFieldDescriptors () const override
std::size_t	GetPointSize () const override

Private Attributes
std::vector< std::uint32_t >	_channel_point_counts
bool	_extended = false
std::vector< float >	_vertical_angles

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 17 of file CarlaLidarPublisher.h.

Constructor & Destructor Documentation

CarlaLidarPublisher()

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

inline

Definition at line 19 of file CarlaLidarPublisher.h.

Member Function Documentation

ComputePointCloud()

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

overrideprivatevirtual

Implements carla::ros2::CarlaPointCloudPublisher.

Definition at line 87 of file CarlaLidarPublisher.cpp.

References _channel_point_counts, _extended, _vertical_angles, channel, elevation, and point.

GetFieldDescriptorCount()

std::size_t carla::ros2::CarlaLidarPublisher::GetFieldDescriptorCount ( ) const

overrideprivatevirtual

Implements carla::ros2::CarlaPointCloudPublisher.

Definition at line 66 of file CarlaLidarPublisher.cpp.

References _extended, carla::ros2::kLidarFields, and carla::ros2::kLidarFieldsEx.

GetFieldDescriptors()

const PointFieldDescriptor * carla::ros2::CarlaLidarPublisher::GetFieldDescriptors ( ) const

overrideprivatevirtual

Implements carla::ros2::CarlaPointCloudPublisher.

Definition at line 62 of file CarlaLidarPublisher.cpp.

References _extended, carla::ros2::kLidarFields, and carla::ros2::kLidarFieldsEx.

GetPointSize()

std::size_t carla::ros2::CarlaLidarPublisher::GetPointSize ( ) const

overrideprivatevirtual

Implements carla::ros2::CarlaPointCloudPublisher.

Definition at line 58 of file CarlaLidarPublisher.cpp.

References _extended.

WriteExtendedPointCloud()

bool carla::ros2::CarlaLidarPublisher::WriteExtendedPointCloud	(	std::int32_t	seconds,
		std::uint32_t	nanoseconds,
		std::uint32_t	height,
		std::uint32_t	width,
		const std::uint8_t *	data,
		const std::uint32_t *	channel_point_counts,
		std::size_t	channel_count,
		const std::vector< float > &	vertical_angles
	)

Definition at line 70 of file CarlaLidarPublisher.cpp.

References _channel_point_counts, _extended, _vertical_angles, and carla::ros2::CarlaPointCloudPublisher::WritePointCloud().

WritePointCloud()

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

inline

Definition at line 25 of file CarlaLidarPublisher.h.

References _extended, and carla::ros2::CarlaPointCloudPublisher::WritePointCloud().

Member Data Documentation

_channel_point_counts

std::vector<std::uint32_t> carla::ros2::CarlaLidarPublisher::_channel_point_counts

private

Definition at line 62 of file CarlaLidarPublisher.h.

Referenced by ComputePointCloud(), and WriteExtendedPointCloud().

_extended

bool carla::ros2::CarlaLidarPublisher::_extended = false

private

Definition at line 61 of file CarlaLidarPublisher.h.

Referenced by ComputePointCloud(), GetFieldDescriptorCount(), GetFieldDescriptors(), GetPointSize(), WriteExtendedPointCloud(), and WritePointCloud().

_vertical_angles

std::vector<float> carla::ros2::CarlaLidarPublisher::_vertical_angles

private

Definition at line 63 of file CarlaLidarPublisher.h.

Referenced by ComputePointCloud(), and WriteExtendedPointCloud().

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

• CarlaLidarPublisher.h
• CarlaLidarPublisher.cpp