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Fixing the tests in laser_geometry -- now they break

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git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35275 eb33c2ac-9c88-4c90-87e0-44a10359b0c3
This commit is contained in:
Jeremy Leibs
2011-01-16 04:45:46 +00:00
parent b59d080add
commit ae9141d36d
3 changed files with 186 additions and 39 deletions
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11
include/laser_geometry/laser_geometry.h
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@@ -68,7 +68,7 @@ namespace laser_geometry
Index = 0x02, //!< Enable "index" channel
Distance = 0x04, //!< Enable "distances" channel
Timestamp = 0x08, //!< Enable "stamps" channel
Viewpoint = 0x16, //!< Enable "viewpoint" channel
Viewpoint = 0x10, //!< Enable "viewpoint" channel
Default = (Intensity | Index) //!< Enable "intensities" and "index" channels
};
}
@@ -181,7 +181,7 @@ namespace laser_geometry
double range_cutoff,
int channel_options = channel_option::Default)
{
return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, range_cutoff, channel_options, false);
return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, range_cutoff, channel_options);
}
//! Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud in target frame
@@ -209,7 +209,7 @@ namespace laser_geometry
tf::Transformer& tf,
int channel_options = channel_option::Default)
{
return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, -1.0, channel_options, false);
return transformLaserScanToPointCloud_ (target_frame, cloud_out, scan_in, tf, -1.0, channel_options);
}
//! Transform a sensor_msgs::LaserScan into a sensor_msgs::PointCloud2 in target frame
@@ -277,8 +277,7 @@ namespace laser_geometry
const sensor_msgs::LaserScan& scan_in,
tf::Transformer & tf,
double range_cutoff,
int channel_options,
bool preservative);
int channel_options);
//! Internal hidden representation of transformLaserScanToPointCloud2
void transformLaserScanToPointCloud_ (const std::string &target_frame,
@@ -292,7 +291,7 @@ namespace laser_geometry
std::map<std::string,boost::numeric::ublas::matrix<double>* > unit_vector_map_;
float angle_min_;
float angle_max_;
Eigen3::ArrayXXd co_sine_map_;
// Eigen3::ArrayXXd co_sine_map_;
boost::mutex guv_mutex_;
};