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>

Inherited by the following classes: nebula::drivers::AngleCorrectorCalibrationBased

Public Types

Type	Name
typedef CorrectionDataT	correction_data_t

Public Functions

Type	Name
	AngleCorrector (const std::shared_ptr< const RobosenseCalibrationConfiguration > & sensor_calibration)
virtual CorrectedAngleData	getCorrectedAngleData (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 CorrectedAngleData	getCorrectedAngleData (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	hasScanned (int current_azimuth, int last_azimuth) = 0 Returns true if the current azimuth lies in a different (new) scan compared to the last azimuth.
virtual bool	isInsideFoV (uint32_t last_azimuth, uint32_t current_azimuth) = 0
virtual bool	isInsideOverlap (uint32_t last_azimuth, uint32_t current_azimuth) = 0
virtual bool	passedEmitAngle (uint32_t last_azimuth, uint32_t current_azimuth) = 0
virtual bool	passedTimestampResetAngle (uint32_t last_azimuth, uint32_t current_azimuth) = 0

Protected Attributes

Type	Name
const std::shared_ptr< const RobosenseCalibrationConfiguration >	sensor_calibration_

Public Types Documentation

typedef correction_data_t

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

Public Functions Documentation

function AngleCorrector

inline explicit nebula::drivers::AngleCorrector::AngleCorrector (
    const std::shared_ptr< const RobosenseCalibrationConfiguration > & sensor_calibration
)

function getCorrectedAngleData [1/2]

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

virtual CorrectedAngleData nebula::drivers::AngleCorrector::getCorrectedAngleData (
    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 getCorrectedAngleData [1/2]

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

virtual CorrectedAngleData nebula::drivers::AngleCorrector::getCorrectedAngleData (
    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 hasScanned

Returns true if the current azimuth lies in a different (new) scan compared to the last azimuth.

virtual bool nebula::drivers::AngleCorrector::hasScanned (
    int current_azimuth,
    int last_azimuth
) = 0

Parameters:

current_azimuth The current azimuth value in the sensor's angle resolution
last_azimuth The last azimuth in the sensor's angle resolution

Returns:

true if the current azimuth is in a different scan than the last one, false otherwise

function isInsideFoV

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

function isInsideOverlap

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

function passedEmitAngle

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

function passedTimestampResetAngle

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

Protected Attributes Documentation

variable sensor_calibration_

const std::shared_ptr<const RobosenseCalibrationConfiguration> nebula::drivers::AngleCorrector< CorrectionDataT >::sensor_calibration_;

The documentation for this class was generated from the following file nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/angle_corrector.hpp