class implements a gateway to communicate with the PIC to rotate the LMS200 More...
#include <laser_rotate3D.h>
Public Member Functions | |
| void | Publish () |
| Publish mutex protected publish. | |
| void | ReadLinesSerialPort (boost::function< void(std::string *)> f) |
| ReadLinesSerialPort thread to read from the serial port, inherited from SerialCom. | |
| RotateLaser () | |
| constructor | |
| void | RotateLaserCallback (std::string *readdata) |
| bool | SendCommand () |
| SendCommand send a command to the PIC controlling the stepper motor. | |
| void | SetJointState (const sensor_msgs::JointState::ConstPtr &set_joint_state) |
| SetJointState selects setting the angular position or rate for the external LM200 joint calls SetSpeed or SetPosition. | |
| bool | SetPosition (int desiredposition) |
| SetPosition set the external angular position of the laser. | |
| bool | SetSpeed (int desiredrpm) |
| SetSpeed set the external angular velocity of the laser. | |
| ~RotateLaser () | |
| destructor | |
Public Attributes | |
| boost::function< void(std::string *) | BoostRotateLaserCallback ) |
| ros::Publisher | RotateLaser_pub |
| ros::Subscriber | RotateLaser_sub |
Protected Attributes | |
| ros::NodeHandle | RotateLaser_nh |
Private Attributes | |
| int | baud_rate_ |
| char | command2send [8] |
| sensor_msgs::JointState | joint_state |
| std::string | port_name_ |
| int | previous_position_request |
| int | previous_speed_request |
| int | sizeofcommand |
| tf::TransformBroadcaster | TransfBroadcaster |
| tf::Transform | Transform2Laser |
| boost::mutex | want2publish_mutex |
class implements a gateway to communicate with the PIC to rotate the LMS200
Definition at line 76 of file laser_rotate3D.h.
| RotateLaser::RotateLaser | ( | ) |
constructor
Definition at line 147 of file laser_rotate3D.h.
| RotateLaser::~RotateLaser | ( | ) |
destructor
Definition at line 136 of file laser_rotate3D.h.
| void RotateLaser::Publish | ( | ) |
Publish mutex protected publish.
Definition at line 345 of file laser_rotate3D.h.
| void RotateLaser::ReadLinesSerialPort | ( | boost::function< void(std::string *)> | f | ) |
ReadLinesSerialPort thread to read from the serial port, inherited from SerialCom.
Definition at line 336 of file laser_rotate3D.h.
| void RotateLaser::RotateLaserCallback | ( | std::string * | readdata | ) |
Definition at line 383 of file laser_rotate3D.h.
| bool RotateLaser::SendCommand | ( | ) |
SendCommand send a command to the PIC controlling the stepper motor.
Definition at line 318 of file laser_rotate3D.h.
| void RotateLaser::SetJointState | ( | const sensor_msgs::JointState::ConstPtr & | set_joint_state | ) |
SetJointState selects setting the angular position or rate for the external LM200 joint calls SetSpeed or SetPosition.
| set_joint_state | - JointState type for set speed / position |
Definition at line 215 of file laser_rotate3D.h.
| bool RotateLaser::SetPosition | ( | int | desiredposition | ) |
SetPosition set the external angular position of the laser.
Definition at line 251 of file laser_rotate3D.h.
| bool RotateLaser::SetSpeed | ( | int | desiredrpm | ) |
SetSpeed set the external angular velocity of the laser.
Definition at line 292 of file laser_rotate3D.h.
int RotateLaser::baud_rate_ [private] |
Definition at line 98 of file laser_rotate3D.h.
| boost::function<void(std::string*) RotateLaser::BoostRotateLaserCallback) |
Definition at line 123 of file laser_rotate3D.h.
char RotateLaser::command2send[8] [private] |
Definition at line 102 of file laser_rotate3D.h.
sensor_msgs::JointState RotateLaser::joint_state [private] |
Definition at line 92 of file laser_rotate3D.h.
std::string RotateLaser::port_name_ [private] |
Definition at line 99 of file laser_rotate3D.h.
int RotateLaser::previous_position_request [private] |
Definition at line 94 of file laser_rotate3D.h.
int RotateLaser::previous_speed_request [private] |
Definition at line 95 of file laser_rotate3D.h.
ros::NodeHandle RotateLaser::RotateLaser_nh [protected] |
Definition at line 80 of file laser_rotate3D.h.
| ros::Publisher RotateLaser::RotateLaser_pub |
Definition at line 113 of file laser_rotate3D.h.
| ros::Subscriber RotateLaser::RotateLaser_sub |
Definition at line 114 of file laser_rotate3D.h.
int RotateLaser::sizeofcommand [private] |
Definition at line 101 of file laser_rotate3D.h.
tf::TransformBroadcaster RotateLaser::TransfBroadcaster [private] |
Definition at line 105 of file laser_rotate3D.h.
tf::Transform RotateLaser::Transform2Laser [private] |
Definition at line 106 of file laser_rotate3D.h.
boost::mutex RotateLaser::want2publish_mutex [private] |
Definition at line 87 of file laser_rotate3D.h.
