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 |
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typedef std::function< void(const NebulaPointCloudPtr &pointcloud, double timestamp_s)> | pointcloud_callback_t |
Public Functions
Type | Name |
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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) Constructor. |
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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 |
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HesaiScanDecoder (HesaiScanDecoder && c) = delete |
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HesaiScanDecoder (const HesaiScanDecoder & c) = delete |
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HesaiScanDecoder () = default |
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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
)
Parameters:
sensor_configuration
SensorConfiguration for this decodercorrection_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