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Class nebula::drivers::HesaiDecoder

template <typename SensorT>

ClassList > nebula > drivers > HesaiDecoder

  • #include <hesai_decoder.hpp>

Inherits the following classes: nebula::drivers::HesaiScanDecoder

Public Types inherited from nebula::drivers::HesaiScanDecoder

See nebula::drivers::HesaiScanDecoder

Type Name
typedef std::function< void(const NebulaPointCloudPtr &pointcloud, double timestamp_s)> pointcloud_callback_t

Public Functions

Type Name
HesaiDecoder (const std::shared_ptr< const HesaiSensorConfiguration > & sensor_configuration, const std::shared_ptr< const typename SensorT::angle_corrector_t::correction_data_t > & correction_data, const std::shared_ptr< loggers::Logger > & logger, const std::shared_ptr< FunctionalSafetyDecoderTypedBase< typename SensorT::packet_t > > & functional_safety_decoder, const std::shared_ptr< PacketLossDetectorTypedBase< typename SensorT::packet_t > > & packet_loss_detector, std::shared_ptr< point_filters::BlockageMaskPlugin > blockage_mask_plugin)
Constructor.
virtual void set_pointcloud_callback (pointcloud_callback_t callback) override
virtual int unpack (const std::vector< uint8_t > & packet) override
Parses PandarPacket and add its points to the point cloud.

Public Functions inherited from nebula::drivers::HesaiScanDecoder

See nebula::drivers::HesaiScanDecoder

Type Name
HesaiScanDecoder (HesaiScanDecoder && c) = delete
HesaiScanDecoder (const HesaiScanDecoder & c) = delete
HesaiScanDecoder () = default
HesaiScanDecoder & operator= (HesaiScanDecoder && c) = delete
HesaiScanDecoder & operator= (const HesaiScanDecoder & c) = delete
virtual void set_pointcloud_callback (pointcloud_callback_t callback) = 0
virtual int unpack (const std::vector< uint8_t > & packet) = 0
Parses PandarPacket and add its points to the point cloud.
virtual ~HesaiScanDecoder () = default

Public Functions Documentation

function HesaiDecoder

Constructor. 

inline explicit nebula::drivers::HesaiDecoder::HesaiDecoder (
    const std::shared_ptr< const  HesaiSensorConfiguration > & sensor_configuration,
    const std::shared_ptr< const  typename SensorT::angle_corrector_t::correction_data_t > & correction_data,
    const std::shared_ptr< loggers::Logger > & logger,
    const std::shared_ptr< FunctionalSafetyDecoderTypedBase < typename SensorT::packet_t > > & functional_safety_decoder,
    const std::shared_ptr< PacketLossDetectorTypedBase < typename SensorT::packet_t > > & packet_loss_detector,
    std::shared_ptr< point_filters::BlockageMaskPlugin > blockage_mask_plugin
)

Parameters:

  • sensor_configuration SensorConfiguration for this decoder
  • correction_data Calibration data for this decoder

function set_pointcloud_callback

inline virtual void nebula::drivers::HesaiDecoder::set_pointcloud_callback (
    pointcloud_callback_t callback
) override

Implements nebula::drivers::HesaiScanDecoder::set_pointcloud_callback

function unpack

Parses PandarPacket and add its points to the point cloud. 

inline virtual int nebula::drivers::HesaiDecoder::unpack (
    const std::vector< uint8_t > & packet
) override

Parameters:

  • packet The incoming PandarPacket

Returns:

The last azimuth processed

Implements nebula::drivers::HesaiScanDecoder::unpack

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