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_blockage_mask (const SensorModel & sensor_model) Whether the given sensor model supports blockage mask output.
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 a boost::crc_optimal type.

Parameters:

• begin The beginning of the memory range
• end 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 ReturnMode
• sensor_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 response
• sensor_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_blockage_mask

Whether the given sensor model supports blockage mask output.

inline bool nebula::drivers::supports_blockage_mask (
    const SensorModel & sensor_model
) 

Blockage mask output is only supported for OT128.

The QT128 datasheet mentions support for blockage detection, but its output does not distinguish between sky (no return) and blockage (too-close return). Thus, the output is not usable in the same way as OT128's.

Parameters:

• sensor_model Sensor model

Returns:

True if the sensor model supports blockage mask output, false otherwise

---

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