Namespace nebula::drivers
Namespace List > nebula > drivers
Namespaces
Type | Name |
---|---|
namespace | continental_ars548 |
namespace | continental_srr520 |
namespace | loggers |
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. |
typedef boost::crc_ccitt_false_t | crc16_ccit_false_t CRC-16/CCITT-FALSE algorithm. |
typedef boost::crc_optimal< 32, 0x04C11DB7, 0xFFFFFFFF, 0x0, false, false > | crc32_mpeg2_t CRC-32/MPEG-2 algorithm. |
typedef boost::crc_optimal< 8, 0x2F, 0xFF, 0xFF, false, false > | crc8h2f_t AUTOSAR CRC8H2F routine. |
enum | datatype not used? |
Public Attributes
Type | Name |
---|---|
constexpr uint8_t | bpearl_v4_flag = 0x04 |
Public Functions
Type | Name |
---|---|
pcl::PointCloud< PointXYZIR >::Ptr | convert_point_xyziradt_to_point_xyzir (const pcl::PointCloud< PointXYZIRADT >::ConstPtr & input_pointcloud) |
pcl::PointCloud< PointXYZIR >::Ptr | convert_point_xyzircaedt_to_point_xyzir (const pcl::PointCloud< PointXYZIRCAEDT >::ConstPtr & input_pointcloud) |
pcl::PointCloud< PointXYZIRADT >::Ptr | convert_point_xyzircaedt_to_point_xyziradt (const pcl::PointCloud< PointXYZIRCAEDT >::ConstPtr & input_pointcloud, double stamp) |
crc_type::value_type | crc (const T * begin, const U * end) Given a memory range, calculates the CRC over its bytes. |
int | int_from_return_mode_hesai (const ReturnMode return_mode, const SensorModel & sensor_model) Convert ReturnMode enum to return mode number. |
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) |
PtpProfile | ptp_profile_from_string (const std::string & ptp_profile) Converts String to PTP Profile. |
PtpSwitchType | ptp_switch_type_from_string (const std::string & switch_type) Converts String to PTP SwitchType. |
PtpTransportType | ptp_transport_type_from_string (const std::string & transport_type) Converts String to PTP TransportType. |
ReturnMode | return_mode_from_int_hesai (const int return_mode, const SensorModel & sensor_model) Convert return mode number to ReturnMode enum. |
ReturnMode | return_mode_from_string (const std::string & return_mode) Convert return mode name to ReturnMode enum. |
ReturnMode | return_mode_from_string_hesai (const std::string & return_mode, const SensorModel & sensor_model) Convert return mode name to ReturnMode enum (Hesai-specific return_mode_from_string) |
ReturnMode | return_mode_from_string_robosense (const std::string & return_mode) Convert return mode name to ReturnMode enum (Robosense-specific return_mode_from_string) |
ReturnMode | return_mode_from_string_velodyne (const std::string & return_mode) Convert return mode name to ReturnMode enum (Velodyne-specific return_mode_from_string) |
uint8_t | return_mode_to_int (const ReturnMode & mode) Convert ReturnMode enum to integer. |
ReturnType | return_mode_to_return_type (const ReturnMode & mode) Convert ReturnMode enum to ReturnType enum for Pandar AT, XTM (temporary, not used) |
SensorModel | sensor_model_from_string (const std::string & sensor_model) Convert sensor name to SensorModel enum (Upper and lower case letters must match) |
std::string | sensor_model_to_string (const SensorModel & sensor_model) |
bool | supports_functional_safety (const SensorModel & sensor_model) Whether the given sensor model supports functional safety. |
bool | supports_packet_loss_detection (const SensorModel & sensor_model) Whether the given sensor model supports packet loss detection. |
Public Static Functions
Type | Name |
---|---|
float | deg2rad (double degrees) Converts degrees to radians. |
float | rad2deg (double radians) Converts radians to degrees. |
double | rpm2hz (double rpm) Converts RPM to Hertz. |
Public Types Documentation
enum CoordinateMode
Coordinate mode for Velodyne's setting (need to check)
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
Return mode of each LiDAR.
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
Return type of each scan.
enum nebula::drivers::ReturnType {
UNKNOWN = 0,
LAST,
FIRST,
STRONGEST,
FIRST_WEAK,
LAST_WEAK,
IDENTICAL,
SECOND,
SECONDSTRONGEST,
FIRST_STRONGEST,
LAST_STRONGEST
};
enum SensorModel
Type of sensor.
enum nebula::drivers::SensorModel {
UNKNOWN = 0,
HESAI_PANDAR64,
HESAI_PANDAR40P,
HESAI_PANDAR40M,
HESAI_PANDARQT64,
HESAI_PANDARQT128,
HESAI_PANDARXT16,
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
};
typedef crc16_ccit_false_t
CRC-16/CCITT-FALSE algorithm.
using nebula::drivers::crc16_ccit_false_t = typedef boost::crc_ccitt_false_t;
typedef crc32_mpeg2_t
CRC-32/MPEG-2 algorithm.
using nebula::drivers::crc32_mpeg2_t = typedef boost::crc_optimal<32, 0x04C11DB7, 0xFFFFFFFF, 0x0, false, false>;
Bit Width | Polynomial | Initial Value | Final XOR | Reflect In | Reflect Remainder |
---|---|---|---|---|---|
32 | 0x04C11DB7 | 0xFFFFFFFF | 0x00000000 | false | false |
typedef crc8h2f_t
AUTOSAR CRC8H2F routine.
using nebula::drivers::crc8h2f_t = typedef boost::crc_optimal<8, 0x2F, 0xFF, 0xFF, false, false>;
See AUTOSAR Specification of CRC Routines >=3.1.4, sec. 7.2.1.2.
Bit Width | Polynomial | Initial Value | Final XOR | Reflect In | Reflect Remainder |
---|---|---|---|---|---|
8 | 0x2F | 0xFF | 0xFF | false | false |
enum datatype
not used?
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 convert_point_xyziradt_to_point_xyzir
pcl::PointCloud< PointXYZIR >::Ptr nebula::drivers::convert_point_xyziradt_to_point_xyzir (
const pcl::PointCloud< PointXYZIRADT >::ConstPtr & input_pointcloud
)
function convert_point_xyzircaedt_to_point_xyzir
pcl::PointCloud< PointXYZIR >::Ptr nebula::drivers::convert_point_xyzircaedt_to_point_xyzir (
const pcl::PointCloud< PointXYZIRCAEDT >::ConstPtr & input_pointcloud
)
function convert_point_xyzircaedt_to_point_xyziradt
pcl::PointCloud< PointXYZIRADT >::Ptr nebula::drivers::convert_point_xyzircaedt_to_point_xyziradt (
const pcl::PointCloud< PointXYZIRCAEDT >::ConstPtr & input_pointcloud,
double stamp
)
function crc
Given a memory range, calculates the CRC over its bytes.
template<typename crc_type, typename T, typename U>
crc_type::value_type nebula::drivers::crc (
const T * begin,
const U * end
)
Both begin
and end
can be pointers to arbitrary types. They will be cast to void *
.
A common example looks like:
++
struct MyStruct {
int a;
float b;
uint32_t crc;
bool is_crc_valid() const {
return crc<crc32_mpeg_t>(&a, &crc) == crc;
}
};
Template parameters:
crc_type
The type of CRC algorithm to use. Has to be aboost::crc_optimal
type.
Parameters:
begin
The beginning of the memory rangeend
One (byte) past the end of the memory range
Returns:
crc_type::value_type The computed CRC
function int_from_return_mode_hesai
Convert ReturnMode enum to return mode number.
inline int nebula::drivers::int_from_return_mode_hesai (
const ReturnMode return_mode,
const SensorModel & sensor_model
)
Parameters:
return_mode
target ReturnModesensor_model
Model for correct conversion
Returns:
Corresponding return mode number for the hardware
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
function ptp_profile_from_string
Converts String to PTP Profile.
inline PtpProfile nebula::drivers::ptp_profile_from_string (
const std::string & ptp_profile
)
Parameters:
ptp_profile
Profile as String
Returns:
Corresponding PtpProfile
function ptp_switch_type_from_string
Converts String to PTP SwitchType.
inline PtpSwitchType nebula::drivers::ptp_switch_type_from_string (
const std::string & switch_type
)
Parameters:
switch_type
Switch as String
Returns:
Corresponding PtpSwitchType
function ptp_transport_type_from_string
Converts String to PTP TransportType.
inline PtpTransportType nebula::drivers::ptp_transport_type_from_string (
const std::string & transport_type
)
Parameters:
transport_type
Transport as String
Returns:
Corresponding PtpTransportType
function return_mode_from_int_hesai
Convert return mode number to ReturnMode enum.
inline ReturnMode nebula::drivers::return_mode_from_int_hesai (
const int return_mode,
const SensorModel & sensor_model
)
Parameters:
return_mode
Return mode number from the hardware responsesensor_model
Model for correct conversion
Returns:
Corresponding ReturnMode
function return_mode_from_string
Convert return mode name to ReturnMode enum.
inline ReturnMode nebula::drivers::return_mode_from_string (
const std::string & return_mode
)
Parameters:
return_mode
Return mode name (Upper and lower case letters must match)
Returns:
Corresponding ReturnMode
function return_mode_from_string_hesai
Convert return mode name to ReturnMode enum (Hesai-specific return_mode_from_string)
inline ReturnMode nebula::drivers::return_mode_from_string_hesai (
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 return_mode_from_string_robosense
Convert return mode name to ReturnMode enum (Robosense-specific return_mode_from_string)
inline ReturnMode nebula::drivers::return_mode_from_string_robosense (
const std::string & return_mode
)
Parameters:
return_mode
Return mode name (Upper and lower case letters must match)
Returns:
Corresponding ReturnMode
function return_mode_from_string_velodyne
Convert return mode name to ReturnMode enum (Velodyne-specific return_mode_from_string)
inline ReturnMode nebula::drivers::return_mode_from_string_velodyne (
const std::string & return_mode
)
Parameters:
return_mode
Return mode name (Upper and lower case letters must match)
Returns:
Corresponding ReturnMode
function return_mode_to_int
Convert ReturnMode enum to integer.
inline uint8_t nebula::drivers::return_mode_to_int (
const ReturnMode & mode
)
Parameters:
mode
Returns:
Corresponding number
function return_mode_to_return_type
Convert ReturnMode enum to ReturnType enum for Pandar AT, XTM (temporary, not used)
inline ReturnType nebula::drivers::return_mode_to_return_type (
const ReturnMode & mode
)
Parameters:
mode
Returns:
Corresponding mode
function sensor_model_from_string
Convert sensor name to SensorModel enum (Upper and lower case letters must match)
inline SensorModel nebula::drivers::sensor_model_from_string (
const std::string & sensor_model
)
Parameters:
sensor_model
Sensor name (Upper and lower case letters must match)
Returns:
Corresponding SensorModel
function sensor_model_to_string
inline std::string nebula::drivers::sensor_model_to_string (
const SensorModel & sensor_model
)
function supports_functional_safety
Whether the given sensor model supports functional safety.
inline bool nebula::drivers::supports_functional_safety (
const SensorModel & sensor_model
)
Parameters:
sensor_model
Sensor model
Returns:
True if the sensor model supports functional safety, false otherwise
function supports_packet_loss_detection
Whether the given sensor model supports packet loss detection.
inline bool nebula::drivers::supports_packet_loss_detection (
const SensorModel & sensor_model
)
Parameters:
sensor_model
Sensor model
Returns:
True if the sensor model supports packet loss detection, false otherwise
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
function rpm2hz
Converts RPM to Hertz.
static inline double nebula::drivers::rpm2hz (
double rpm
)
Parameters:
rpm
Returns:
Hertz
The documentation for this class was generated from the following file nebula_common/include/nebula_common/continental/continental_ars548.hpp