Class nebula::drivers::AngleCorrectorCorrectionBased

template <size_t ChannelN, size_t AngleUnit>

ClassList > nebula > drivers > AngleCorrectorCorrectionBased

#include <angle_corrector_correction_based.hpp>

Inherits the following classes: nebula::drivers::AngleCorrector

Public Types inherited from nebula::drivers::AngleCorrector

Type	Name
typedef CorrectionDataT	correction_data_t

Public Functions

Type	Name
	AngleCorrectorCorrectionBased (const std::shared_ptr< const HesaiCorrection > & sensor_correction, double fov_start_azimuth_deg, double fov_end_azimuth_deg, double scan_cut_azimuth_deg)
virtual CorrectedAngleData	getCorrectedAngleData (uint32_t block_azimuth, uint32_t channel_id) override Get the corrected azimuth and elevation for a given block and channel, along with their sin/cos values.
virtual bool	isInsideFoV (uint32_t last_azimuth, uint32_t current_azimuth) override
virtual bool	isInsideOverlap (uint32_t last_azimuth, uint32_t current_azimuth) override
virtual bool	passedEmitAngle (uint32_t last_azimuth, uint32_t current_azimuth) override
virtual bool	passedTimestampResetAngle (uint32_t last_azimuth, uint32_t current_azimuth) override

Public Functions inherited from nebula::drivers::AngleCorrector

See nebula::drivers::AngleCorrector

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 inherited from nebula::drivers::AngleCorrector

See nebula::drivers::AngleCorrector

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

Public Functions Documentation

function AngleCorrectorCorrectionBased

inline explicit nebula::drivers::AngleCorrectorCorrectionBased::AngleCorrectorCorrectionBased (
    const std::shared_ptr< const HesaiCorrection > & sensor_correction,
    double fov_start_azimuth_deg,
    double fov_end_azimuth_deg,
    double scan_cut_azimuth_deg
)

function getCorrectedAngleData

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

inline virtual CorrectedAngleData nebula::drivers::AngleCorrectorCorrectionBased::getCorrectedAngleData (
    uint32_t block_azimuth,
    uint32_t channel_id
) override

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

Implements nebula::drivers::AngleCorrector::getCorrectedAngleData

function isInsideFoV

inline virtual bool nebula::drivers::AngleCorrectorCorrectionBased::isInsideFoV (
    uint32_t last_azimuth,
    uint32_t current_azimuth
) override

Implements nebula::drivers::AngleCorrector::isInsideFoV

function isInsideOverlap

inline virtual bool nebula::drivers::AngleCorrectorCorrectionBased::isInsideOverlap (
    uint32_t last_azimuth,
    uint32_t current_azimuth
) override

Implements nebula::drivers::AngleCorrector::isInsideOverlap

function passedEmitAngle

inline virtual bool nebula::drivers::AngleCorrectorCorrectionBased::passedEmitAngle (
    uint32_t last_azimuth,
    uint32_t current_azimuth
) override

Implements nebula::drivers::AngleCorrector::passedEmitAngle

function passedTimestampResetAngle

inline virtual bool nebula::drivers::AngleCorrectorCorrectionBased::passedTimestampResetAngle (
    uint32_t last_azimuth,
    uint32_t current_azimuth
) override

Implements nebula::drivers::AngleCorrector::passedTimestampResetAngle

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