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
See nebula::drivers::AngleCorrector
Type | Name |
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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 | get_corrected_angle_data (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 | is_inside_fov (uint32_t last_azimuth, uint32_t current_azimuth) override |
virtual bool | is_inside_overlap (uint32_t last_azimuth, uint32_t current_azimuth) override |
virtual bool | passed_emit_angle (uint32_t last_azimuth, uint32_t current_azimuth) override |
virtual bool | passed_timestamp_reset_angle (uint32_t last_azimuth, uint32_t current_azimuth) override |
Public Functions inherited from nebula::drivers::AngleCorrector
See nebula::drivers::AngleCorrector
Type | Name |
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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 inherited from nebula::drivers::AngleCorrector
See nebula::drivers::AngleCorrector
Type | Name |
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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 get_corrected_angle_data
Get the corrected azimuth and elevation for a given block and channel, along with their sin/cos values.
inline virtual CorrectedAngleData nebula::drivers::AngleCorrectorCorrectionBased::get_corrected_angle_data (
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 unitchannel_id
The laser channel's id
Returns:
The corrected angles (azimuth, elevation) in radians and their sin/cos values
Implements nebula::drivers::AngleCorrector::get_corrected_angle_data
function is_inside_fov
inline virtual bool nebula::drivers::AngleCorrectorCorrectionBased::is_inside_fov (
uint32_t last_azimuth,
uint32_t current_azimuth
) override
Implements nebula::drivers::AngleCorrector::is_inside_fov
function is_inside_overlap
inline virtual bool nebula::drivers::AngleCorrectorCorrectionBased::is_inside_overlap (
uint32_t last_azimuth,
uint32_t current_azimuth
) override
Implements nebula::drivers::AngleCorrector::is_inside_overlap
function passed_emit_angle
inline virtual bool nebula::drivers::AngleCorrectorCorrectionBased::passed_emit_angle (
uint32_t last_azimuth,
uint32_t current_azimuth
) override
Implements nebula::drivers::AngleCorrector::passed_emit_angle
function passed_timestamp_reset_angle
inline virtual bool nebula::drivers::AngleCorrectorCorrectionBased::passed_timestamp_reset_angle (
uint32_t last_azimuth,
uint32_t current_azimuth
) override
Implements nebula::drivers::AngleCorrector::passed_timestamp_reset_angle
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