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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 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)
Constructor.
virtual std::tuple< drivers::NebulaPointCloudPtr, double > get_pointcloud () override
Returns the point cloud and timestamp of the last scan.
virtual bool has_scanned () override
Indicates whether one full scan is ready.
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
virtual std::tuple< drivers::NebulaPointCloudPtr, double > get_pointcloud () = 0
Returns the point cloud and timestamp of the last scan.
virtual bool has_scanned () = 0
Indicates whether one full scan is ready.
HesaiScanDecoder & operator= (HesaiScanDecoder && c) = delete
HesaiScanDecoder & operator= (const HesaiScanDecoder & c) = delete
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
)

Parameters:

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

function get_pointcloud

Returns the point cloud and timestamp of the last scan. 

inline virtual std::tuple< drivers::NebulaPointCloudPtr, double > nebula::drivers::HesaiDecoder::get_pointcloud () override

Returns:

A tuple of point cloud and timestamp in nanoseconds

Implements nebula::drivers::HesaiScanDecoder::get_pointcloud

function has_scanned

Indicates whether one full scan is ready. 

inline virtual bool nebula::drivers::HesaiDecoder::has_scanned () override

Returns:

Whether a scan is ready

Implements nebula::drivers::HesaiScanDecoder::has_scanned

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