RotateLaser Class Reference

class implements a gateway to communicate with the PIC to rotate the LMS200 More...

#include <laser_rotate3D.h>

Inheritance diagram for RotateLaser:

Public Member Functions
void	Publish ()
	Publish mutex protected publish. More...
void	ReadLinesSerialPort (boost::function< void(std::string *)> f)
	ReadLinesSerialPort thread to read from the serial port, inherited from SerialCom. More...
	RotateLaser ()
	constructor More...
void	RotateLaserCallback (std::string *readdata)
bool	SendCommand ()
	SendCommand send a command to the PIC controlling the stepper motor. More...
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. More...
bool	SetPosition (int desiredposition)
	SetPosition set the external angular position of the laser. More...
bool	SetSpeed (int desiredrpm)
	SetSpeed set the external angular velocity of the laser. More...
	~RotateLaser ()
	destructor More...

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

Detailed Description

class implements a gateway to communicate with the PIC to rotate the LMS200

Definition at line 76 of file laser_rotate3D.h.

Constructor & Destructor Documentation

RotateLaser::RotateLaser

(

)

constructor

Definition at line 147 of file laser_rotate3D.h.

RotateLaser::~RotateLaser

(

)

destructor

Definition at line 136 of file laser_rotate3D.h.

Member Function Documentation

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.

Parameters

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.

Member Data Documentation

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.

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

• laser_rotate3D.h