Class nebula::drivers::BpearlV4
ClassList > nebula > drivers > BpearlV4
#include <bpearl_v4.hpp>
Inherits the following classes: nebula::drivers::RobosenseSensor
Public Types inherited from nebula::drivers::RobosenseSensor
See 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_v4::InfoPacket & info_packet) override |
virtual RobosenseCalibrationConfiguration | get_sensor_calibration (const robosense_packet::bpearl_v4::InfoPacket & info_packet) override |
virtual std::map< std::string, std::string > | get_sensor_info (const robosense_packet::bpearl_v4::InfoPacket & info_packet) override |
virtual bool | get_sync_status (const robosense_packet::bpearl_v4::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::BpearlV4::max_range;
variable max_scan_buffer_points
constexpr size_t nebula::drivers::BpearlV4::max_scan_buffer_points;
variable min_range
constexpr float nebula::drivers::BpearlV4::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::BpearlV4::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 idchannel_id
The point's channel idsensor_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::BpearlV4::get_return_mode (
const robosense_packet::bpearl_v4::InfoPacket & info_packet
) override
Implements nebula::drivers::RobosenseSensor::get_return_mode
function get_sensor_calibration
inline virtual RobosenseCalibrationConfiguration nebula::drivers::BpearlV4::get_sensor_calibration (
const robosense_packet::bpearl_v4::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::BpearlV4::get_sensor_info (
const robosense_packet::bpearl_v4::InfoPacket & info_packet
) override
Implements nebula::drivers::RobosenseSensor::get_sensor_info
function get_sync_status
inline virtual bool nebula::drivers::BpearlV4::get_sync_status (
const robosense_packet::bpearl_v4::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_v4.hpp