Namespace nebula::drivers

Namespace List > nebula > drivers

Namespaces

Type	Name
namespace	continental_ars548
namespace	continental_srr520

Classes

Type	Name
struct	CANSensorConfigurationBase Base struct for CAN-based Sensor configuration.
struct	CalibrationConfigurationBase Base struct for Calibration configuration (Requires extensions in child struct)
struct	ChannelCorrection
struct	EthernetSensorConfigurationBase Base struct for Ethernet-based Sensor configuration.
struct	HesaiCalibrationConfiguration struct for Hesai calibration configuration
struct	HesaiCalibrationConfigurationBase
struct	HesaiCorrection struct for Hesai correction configuration (for AT)
struct	HesaiSensorConfiguration struct for Hesai sensor configuration
struct	LidarConfigurationBase Base struct for Lidar configuration.
struct	PointField not used?
struct	PointXYZICATR
struct	PointXYZIR
struct	PointXYZIRADT
struct	PointXYZIRCAEDT
struct	RobosenseCalibrationConfiguration struct for Robosense calibration configuration
struct	RobosenseSensorConfiguration struct for Robosense sensor configuration
struct	SensorConfigurationBase Base struct for Sensor configuration.
class	VelodyneCalibration Calibration information for the entire device.
struct	VelodyneCalibrationConfiguration struct for Velodyne calibration configuration
struct	VelodyneLaserCorrection
struct	VelodyneSensorConfiguration struct for Velodyne sensor configuration

Public Types

Type	Name
enum	CoordinateMode Coordinate mode for Velodyne's setting (need to check)
typedef PointXYZIRCAEDT	NebulaPoint
typedef pcl::PointCloud< NebulaPoint >	NebulaPointCloud
typedef pcl::PointCloud< NebulaPoint >::Ptr	NebulaPointCloudPtr
typedef std::shared_ptr< NebulaPoint >	NebulaPointPtr
enum	PtpProfile
enum	PtpSwitchType
enum	PtpTransportType
enum uint8_t	ReturnMode Return mode of each LiDAR.
enum uint8_t	ReturnType Return type of each scan.
enum	SensorModel Type of sensor.
enum	datatype not used?

Public Attributes

Type	Name
constexpr uint8_t	BPEARL_V4_FLAG = = 0x04

Public Functions

Type	Name
int	IntFromReturnModeHesai (const ReturnMode return_mode, const SensorModel & sensor_model) Convert ReturnMode enum to return mode number.
PtpProfile	PtpProfileFromString (const std::string & ptp_profile) Converts String to PTP Profile.
PtpSwitchType	PtpSwitchTypeFromString (const std::string & switch_type) Converts String to PTP SwitchType.
PtpTransportType	PtpTransportTypeFromString (const std::string & transport_type) Converts String to PTP TransportType.
ReturnMode	ReturnModeFromIntHesai (const int return_mode, const SensorModel & sensor_model) Convert return mode number to ReturnMode enum.
ReturnMode	ReturnModeFromString (const std::string & return_mode) Convert return mode name to ReturnMode enum.
ReturnMode	ReturnModeFromStringHesai (const std::string & return_mode, const SensorModel & sensor_model) Convert return mode name to ReturnMode enum (Hesai-specific ReturnModeFromString)
ReturnMode	ReturnModeFromStringRobosense (const std::string & return_mode) Convert return mode name to ReturnMode enum (Robosense-specific ReturnModeFromString)
ReturnMode	ReturnModeFromStringVelodyne (const std::string & return_mode) Convert return mode name to ReturnMode enum (Velodyne-specific ReturnModeFromString)
uint8_t	ReturnModeToInt (const ReturnMode & mode) Convert ReturnMode enum to integer.
ReturnType	ReturnModeToReturnType (const ReturnMode & mode) Convert ReturnMode enum to ReturnType enum for Pandar AT, XTM (temporary, not used)
SensorModel	SensorModelFromString (const std::string & sensor_model) Convert sensor name to SensorModel enum (Upper and lower case letters must match)
std::string	SensorModelToString (const SensorModel & sensor_model)
pcl::PointCloud< PointXYZIR >::Ptr	convertPointXYZIRADTToPointXYZIR (const pcl::PointCloud< PointXYZIRADT >::ConstPtr & input_pointcloud)
pcl::PointCloud< PointXYZIR >::Ptr	convertPointXYZIRCAEDTToPointXYZIR (const pcl::PointCloud< PointXYZIRCAEDT >::ConstPtr & input_pointcloud)
pcl::PointCloud< PointXYZIRADT >::Ptr	convertPointXYZIRCAEDTToPointXYZIRADT (const pcl::PointCloud< PointXYZIRCAEDT >::ConstPtr & input_pointcloud, double stamp)
std::ostream &	operator<< (std::ostream & os, HesaiSensorConfiguration const & arg) Convert HesaiSensorConfiguration to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, nebula::drivers::ReturnType const & arg) Convert ReturnType enum to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, nebula::drivers::ReturnMode const & arg) Convert ReturnMode enum to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, nebula::drivers::SensorModel const & arg) Convert SensorModel enum to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, SensorConfigurationBase const & arg) Convert SensorConfigurationBase to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, EthernetSensorConfigurationBase const & arg) Convert EthernetSensorConfigurationBase to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, CANSensorConfigurationBase const & arg) Convert CANSensorConfigurationBase to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, nebula::drivers::LidarConfigurationBase const & arg) Convert LidarConfigurationBase to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, nebula::drivers::PtpProfile const & arg) Convert PtpProfile enum to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, nebula::drivers::PtpTransportType const & arg) Convert PtpTransportType enum to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, nebula::drivers::PtpSwitchType const & arg) Convert PtpSwitchType enum to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, RobosenseSensorConfiguration const & arg) Convert RobosenseSensorConfiguration to string (Overloading the << operator)
std::ostream &	operator<< (std::ostream & os, VelodyneSensorConfiguration const & arg) Convert VelodyneSensorConfiguration to string (Overloading the << operator)

Public Static Functions

Type	Name
float	deg2rad (double degrees) Converts degrees to radians.
float	rad2deg (double radians) Converts radians to degrees.

Public Types Documentation

enum CoordinateMode

enum nebula::drivers::CoordinateMode {
    UNKNOWN = 0,
    CARTESIAN,
    SPHERICAL,
    CYLINDRICAL
};

---

typedef NebulaPoint

using nebula::drivers::NebulaPoint = typedef PointXYZIRCAEDT;

---

typedef NebulaPointCloud

using nebula::drivers::NebulaPointCloud = typedef pcl::PointCloud<NebulaPoint>;

---

typedef NebulaPointCloudPtr

using nebula::drivers::NebulaPointCloudPtr = typedef pcl::PointCloud<NebulaPoint>::Ptr;

---

typedef NebulaPointPtr

using nebula::drivers::NebulaPointPtr = typedef std::shared_ptr<NebulaPoint>;

---

enum PtpProfile

enum nebula::drivers::PtpProfile {
    IEEE_1588v2 = 0,
    IEEE_802_1AS,
    IEEE_802_1AS_AUTO,
    UNKNOWN_PROFILE
};

---

enum PtpSwitchType

enum nebula::drivers::PtpSwitchType {
    NON_TSN = 0,
    TSN,
    UNKNOWN_SWITCH
};

---

enum PtpTransportType

enum nebula::drivers::PtpTransportType {
    UDP_IP = 0,
    L2,
    UNKNOWN_TRANSPORT
};

---

enum ReturnMode

enum nebula::drivers::ReturnMode {
    UNKNOWN = 0,
    SINGLE_STRONGEST,
    SINGLE_LAST,
    DUAL_FIRST,
    DUAL_LAST,
    DUAL_ONLY,
    SINGLE_FIRST,
    DUAL_STRONGEST_FIRST,
    DUAL_STRONGEST_LAST,
    DUAL_WEAK_FIRST,
    DUAL_WEAK_LAST,
    TRIPLE,
    LAST,
    STRONGEST,
    DUAL_LAST_STRONGEST,
    FIRST,
    DUAL_LAST_FIRST,
    DUAL_FIRST_STRONGEST,
    DUAL
};

---

enum ReturnType

enum nebula::drivers::ReturnType {
    UNKNOWN = 0,
    LAST,
    FIRST,
    STRONGEST,
    FIRST_WEAK,
    LAST_WEAK,
    IDENTICAL,
    SECOND,
    SECONDSTRONGEST,
    FIRST_STRONGEST,
    LAST_STRONGEST
};

---

enum SensorModel

enum nebula::drivers::SensorModel {
    UNKNOWN = 0,
    HESAI_PANDAR64,
    HESAI_PANDAR40P,
    HESAI_PANDAR40M,
    HESAI_PANDARQT64,
    HESAI_PANDARQT128,
    HESAI_PANDARXT32,
    HESAI_PANDARXT32M,
    HESAI_PANDARAT128,
    HESAI_PANDAR128_E3X,
    HESAI_PANDAR128_E4X,
    VELODYNE_VLS128,
    VELODYNE_HDL64,
    VELODYNE_VLP32,
    VELODYNE_VLP32MR,
    VELODYNE_HDL32,
    VELODYNE_VLP16,
    ROBOSENSE_HELIOS,
    ROBOSENSE_BPEARL_V3,
    ROBOSENSE_BPEARL_V4,
    CONTINENTAL_ARS548,
    CONTINENTAL_SRR520
};

---

enum datatype

enum nebula::drivers::datatype {
    INT8 = 1,
    UINT8 = 2,
    INT16 = 3,
    UINT16 = 4,
    INT32 = 5,
    UINT32 = 6,
    FLOAT32 = 7,
    FLOAT64 = 8
};

---

Public Attributes Documentation

variable BPEARL_V4_FLAG

constexpr uint8_t nebula::drivers::BPEARL_V4_FLAG;

---

Public Functions Documentation

function IntFromReturnModeHesai

Convert ReturnMode enum to return mode number.

inline int nebula::drivers::IntFromReturnModeHesai (
    const ReturnMode return_mode,
    const SensorModel & sensor_model
) 

Parameters:

• return_mode target ReturnMode
• sensor_model Model for correct conversion

Returns:

Corresponding return mode number for the hardware

---

function PtpProfileFromString

Converts String to PTP Profile.

inline PtpProfile nebula::drivers::PtpProfileFromString (
    const std::string & ptp_profile
) 

Parameters:

• ptp_profile Profile as String

Returns:

Corresponding PtpProfile

---

function PtpSwitchTypeFromString

Converts String to PTP SwitchType.

inline PtpSwitchType nebula::drivers::PtpSwitchTypeFromString (
    const std::string & switch_type
) 

Parameters:

• switch_type Switch as String

Returns:

Corresponding PtpSwitchType

---

function PtpTransportTypeFromString

Converts String to PTP TransportType.

inline PtpTransportType nebula::drivers::PtpTransportTypeFromString (
    const std::string & transport_type
) 

Parameters:

• transport_type Transport as String

Returns:

Corresponding PtpTransportType

---

function ReturnModeFromIntHesai

Convert return mode number to ReturnMode enum.

inline ReturnMode nebula::drivers::ReturnModeFromIntHesai (
    const int return_mode,
    const SensorModel & sensor_model
) 

Parameters:

• return_mode Return mode number from the hardware response
• sensor_model Model for correct conversion

Returns:

Corresponding ReturnMode

---

function ReturnModeFromString

Convert return mode name to ReturnMode enum.

inline ReturnMode nebula::drivers::ReturnModeFromString (
    const std::string & return_mode
) 

Parameters:

• return_mode Return mode name (Upper and lower case letters must match)

Returns:

Corresponding ReturnMode

---

function ReturnModeFromStringHesai

Convert return mode name to ReturnMode enum (Hesai-specific ReturnModeFromString)

inline ReturnMode nebula::drivers::ReturnModeFromStringHesai (
    const std::string & return_mode,
    const SensorModel & sensor_model
) 

Parameters:

• return_mode Return mode name (Upper and lower case letters must match)
• sensor_model Model for correct conversion

Returns:

Corresponding ReturnMode

---

function ReturnModeFromStringRobosense

Convert return mode name to ReturnMode enum (Robosense-specific ReturnModeFromString)

inline ReturnMode nebula::drivers::ReturnModeFromStringRobosense (
    const std::string & return_mode
) 

Parameters:

• return_mode Return mode name (Upper and lower case letters must match)

Returns:

Corresponding ReturnMode

---

function ReturnModeFromStringVelodyne

Convert return mode name to ReturnMode enum (Velodyne-specific ReturnModeFromString)

inline ReturnMode nebula::drivers::ReturnModeFromStringVelodyne (
    const std::string & return_mode
) 

Parameters:

• return_mode Return mode name (Upper and lower case letters must match)

Returns:

Corresponding ReturnMode

---

function ReturnModeToInt

Convert ReturnMode enum to integer.

inline uint8_t nebula::drivers::ReturnModeToInt (
    const ReturnMode & mode
) 

Parameters:

• mode

Returns:

Corresponding number

---

function ReturnModeToReturnType

Convert ReturnMode enum to ReturnType enum for Pandar AT, XTM (temporary, not used)

inline ReturnType nebula::drivers::ReturnModeToReturnType (
    const ReturnMode & mode
) 

Parameters:

• mode

Returns:

Corresponding mode

---

function SensorModelFromString

Convert sensor name to SensorModel enum (Upper and lower case letters must match)

inline SensorModel nebula::drivers::SensorModelFromString (
    const std::string & sensor_model
) 

Parameters:

• sensor_model Sensor name (Upper and lower case letters must match)

Returns:

Corresponding SensorModel

---

function SensorModelToString

inline std::string nebula::drivers::SensorModelToString (
    const SensorModel & sensor_model
) 

---

function convertPointXYZIRADTToPointXYZIR

pcl::PointCloud< PointXYZIR >::Ptr nebula::drivers::convertPointXYZIRADTToPointXYZIR (
    const pcl::PointCloud< PointXYZIRADT >::ConstPtr & input_pointcloud
) 

---

function convertPointXYZIRCAEDTToPointXYZIR

pcl::PointCloud< PointXYZIR >::Ptr nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR (
    const pcl::PointCloud< PointXYZIRCAEDT >::ConstPtr & input_pointcloud
) 

---

function convertPointXYZIRCAEDTToPointXYZIRADT

pcl::PointCloud< PointXYZIRADT >::Ptr nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT (
    const pcl::PointCloud< PointXYZIRCAEDT >::ConstPtr & input_pointcloud,
    double stamp
) 

---

function operator<<

Convert HesaiSensorConfiguration to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    HesaiSensorConfiguration const & arg
) 

Parameters:

• os
• arg

Returns:

stream

---

function operator<<

Convert ReturnType enum to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    nebula::drivers::ReturnType const & arg
) 

Parameters:

• os
• arg

Returns:

stream

---

function operator<<

Convert ReturnMode enum to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    nebula::drivers::ReturnMode const & arg
) 

Parameters:

• os
• arg

Returns:

stream

---

function operator<<

Convert SensorModel enum to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    nebula::drivers::SensorModel const & arg
) 

Parameters:

• os
• arg

Returns:

stream

---

function operator<<

Convert SensorConfigurationBase to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    SensorConfigurationBase const & arg
) 

Parameters:

• os
• arg

Returns:

stream

---

function operator<<

Convert EthernetSensorConfigurationBase to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    EthernetSensorConfigurationBase const & arg
) 

Parameters:

• os
• arg

Returns:

stream

---

function operator<<

Convert CANSensorConfigurationBase to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    CANSensorConfigurationBase const & arg
) 

Parameters:

• os
• arg

Returns:

stream

---

function operator<<

Convert LidarConfigurationBase to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    nebula::drivers::LidarConfigurationBase const & arg
) 

Parameters:

• os
• arg

Returns:

stream

---

function operator<<

Convert PtpProfile enum to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    nebula::drivers::PtpProfile const & arg
) 

Parameters:

• os
• arg

Returns:

stream

---

function operator<<

Convert PtpTransportType enum to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    nebula::drivers::PtpTransportType const & arg
) 

Parameters:

• os
• arg

Returns:

stream

---

function operator<<

Convert PtpSwitchType enum to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    nebula::drivers::PtpSwitchType const & arg
) 

Parameters:

• os
• arg

Returns:

stream

---

function operator<<

Convert RobosenseSensorConfiguration to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    RobosenseSensorConfiguration const & arg
) 

Parameters:

• os
• arg

Returns:

stream

---

function operator<<

Convert VelodyneSensorConfiguration to string (Overloading the << operator)

inline std::ostream & nebula::drivers::operator<< (
    std::ostream & os,
    VelodyneSensorConfiguration const & arg
) 

Parameters:

• os
• arg

Returns:

stream

---

Public Static Functions Documentation

function deg2rad

Converts degrees to radians.

static inline float nebula::drivers::deg2rad (
    double degrees
) 

Parameters:

• radians

Returns:

degrees

---

function rad2deg

Converts radians to degrees.

static inline float nebula::drivers::rad2deg (
    double radians
) 

Parameters:

• radians

Returns:

degrees

---

---

The documentation for this class was generated from the following file nebula_common/include/nebula_common/continental/continental_ars548.hpp