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	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 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	has_scanned (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	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

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 get_corrected_angle_data [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::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 get_corrected_angle_data [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::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 has_scanned

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

virtual bool nebula::drivers::AngleCorrector::has_scanned (
    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 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

---

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