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) 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
) 

Parameters:

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

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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

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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

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