Class nebula::drivers::BpearlV3

ClassList > nebula > drivers > BpearlV3

#include <bpearl_v3.hpp>

Inherits the following classes: nebula::drivers::RobosenseSensor

Public Types inherited from nebula::drivers::RobosenseSensor

Type	Name
typedef class AngleCorrectorCalibrationBased< PacketT::n_channels, PacketT::degree_subdivisions >	angle_corrector_t
typedef InfoPacketT	info_t
typedef PacketT	packet_t

Public Static Attributes

Type	Name
constexpr float	max_range = = 30.f
constexpr size_t	max_scan_buffer_points = = 1152000
constexpr float	min_range = = 0.1f

Public Functions

Type	Name
virtual int	get_packet_relative_point_time_offset (const uint32_t block_id, const uint32_t channel_id, const std::shared_ptr< const RobosenseSensorConfiguration > & sensor_configuration) override Computes the exact relative time between the timestamp of the given packet and the one of the point identified by the given block and channel, in nanoseconds.
virtual ReturnMode	get_return_mode (const robosense_packet::bpearl_v3::InfoPacket & info_packet) override
virtual RobosenseCalibrationConfiguration	get_sensor_calibration (const robosense_packet::bpearl_v3::InfoPacket & info_packet) override
virtual std::map< std::string, std::string >	get_sensor_info (const robosense_packet::bpearl_v3::InfoPacket & info_packet) override
virtual bool	get_sync_status (const robosense_packet::bpearl_v3::InfoPacket & info_packet) override

Public Functions inherited from nebula::drivers::RobosenseSensor

See nebula::drivers::RobosenseSensor

Type	Name
	RobosenseSensor () = default
int	get_earliest_point_time_offset_for_block (uint32_t start_block_id, const std::shared_ptr< const RobosenseSensorConfiguration > & sensor_configuration) For a given start block index, find the earliest (lowest) relative time offset of any point in the packet in or after the start block.
virtual int	get_packet_relative_point_time_offset (uint32_t block_id, uint32_t channel_id, const std::shared_ptr< const RobosenseSensorConfiguration > & sensor_configuration) = 0 Computes the exact relative time between the timestamp of the given packet and the one of the point identified by the given block and channel, in nanoseconds.
virtual ReturnMode	get_return_mode (const info_t & info_packet) = 0
virtual ReturnType	get_return_type (ReturnMode return_mode, unsigned int return_idx, const std::vector< const typename PacketT::body_t::block_t::unit_t * > & return_units) Get the return type of the point given by return_idx.
virtual RobosenseCalibrationConfiguration	get_sensor_calibration (const info_t & info_packet) = 0
virtual std::map< std::string, std::string >	get_sensor_info (const info_t & info_packet) = 0
virtual bool	get_sync_status (const info_t & info_packet) = 0
virtual	~RobosenseSensor () = default

Public Static Functions inherited from nebula::drivers::RobosenseSensor

See nebula::drivers::RobosenseSensor

Type	Name
bool	is_duplicate (uint32_t return_idx, const std::vector< const typename PacketT::body_t::block_t::unit_t * > & return_units) Whether the unit given by return_idx is a duplicate of any other unit in return_units.

Public Static Attributes Documentation

variable max_range

constexpr float nebula::drivers::BpearlV3::max_range;

variable max_scan_buffer_points

constexpr size_t nebula::drivers::BpearlV3::max_scan_buffer_points;

variable min_range

constexpr float nebula::drivers::BpearlV3::min_range;

Public Functions Documentation

function get_packet_relative_point_time_offset

Computes the exact relative time between the timestamp of the given packet and the one of the point identified by the given block and channel, in nanoseconds.

inline virtual int nebula::drivers::BpearlV3::get_packet_relative_point_time_offset (
    const uint32_t block_id,
    const uint32_t channel_id,
    const std::shared_ptr< const RobosenseSensorConfiguration > & sensor_configuration
) override

Parameters:

block_id The point's block id
channel_id The point's channel id
sensor_configuration The sensor configuration

Returns:

The relative time offset in nanoseconds

Implements nebula::drivers::RobosenseSensor::get_packet_relative_point_time_offset

function get_return_mode

inline virtual ReturnMode nebula::drivers::BpearlV3::get_return_mode (
    const robosense_packet::bpearl_v3::InfoPacket & info_packet
) override

Implements nebula::drivers::RobosenseSensor::get_return_mode

function get_sensor_calibration

inline virtual RobosenseCalibrationConfiguration nebula::drivers::BpearlV3::get_sensor_calibration (
    const robosense_packet::bpearl_v3::InfoPacket & info_packet
) override

Implements nebula::drivers::RobosenseSensor::get_sensor_calibration

function get_sensor_info

inline virtual std::map< std::string, std::string > nebula::drivers::BpearlV3::get_sensor_info (
    const robosense_packet::bpearl_v3::InfoPacket & info_packet
) override

Implements nebula::drivers::RobosenseSensor::get_sensor_info

function get_sync_status

inline virtual bool nebula::drivers::BpearlV3::get_sync_status (
    const robosense_packet::bpearl_v3::InfoPacket & info_packet
) override

Implements nebula::drivers::RobosenseSensor::get_sync_status

The documentation for this class was generated from the following file nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/bpearl_v3.hpp