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Class nebula::drivers::AngleCorrector

template <typename CorrectionDataT>

ClassList > nebula > drivers > AngleCorrector

Handles angle correction for given azimuth/channel combinations, as well as trigonometry lookup tables.

  • #include <angle_corrector.hpp>

Public Types

Type Name
typedef CorrectionDataT correction_data_t

Public Functions

Type Name
virtual CorrectedAngleData get_corrected_angle_data (uint32_t block_azimuth, uint32_t channel_id) = 0
Get the corrected azimuth and elevation for a given block and channel, along with their sin/cos values.
virtual bool is_inside_fov (uint32_t last_azimuth, uint32_t current_azimuth) = 0
virtual bool is_inside_overlap (uint32_t last_azimuth, uint32_t current_azimuth) = 0
virtual bool passed_emit_angle (uint32_t last_azimuth, uint32_t current_azimuth) = 0
virtual bool passed_timestamp_reset_angle (uint32_t last_azimuth, uint32_t current_azimuth) = 0

Public Types Documentation

typedef correction_data_t

using nebula::drivers::AngleCorrector< CorrectionDataT >::correction_data_t =  CorrectionDataT;

Public Functions Documentation

function get_corrected_angle_data

Get the corrected azimuth and elevation for a given block and channel, along with their sin/cos values. 

virtual CorrectedAngleData nebula::drivers::AngleCorrector::get_corrected_angle_data (
    uint32_t block_azimuth,
    uint32_t channel_id
) = 0

Parameters:

  • block_azimuth The block's azimuth (including optional fine azimuth), in the sensor's angle unit
  • channel_id The laser channel's id

Returns:

The corrected angles (azimuth, elevation) in radians and their sin/cos values

function is_inside_fov

virtual bool nebula::drivers::AngleCorrector::is_inside_fov (
    uint32_t last_azimuth,
    uint32_t current_azimuth
) = 0

function is_inside_overlap

virtual bool nebula::drivers::AngleCorrector::is_inside_overlap (
    uint32_t last_azimuth,
    uint32_t current_azimuth
) = 0

function passed_emit_angle

virtual bool nebula::drivers::AngleCorrector::passed_emit_angle (
    uint32_t last_azimuth,
    uint32_t current_azimuth
) = 0

function passed_timestamp_reset_angle

virtual bool nebula::drivers::AngleCorrector::passed_timestamp_reset_angle (
    uint32_t last_azimuth,
    uint32_t current_azimuth
) = 0

The documentation for this class was generated from the following file src/nebula_hesai/nebula_hesai_decoders/include/nebula_hesai_decoders/decoders/angle_corrector.hpp