Class nebula::drivers::HesaiDriver

ClassList > nebula > drivers > HesaiDriver

Hesai driver.

• #include <hesai_driver.hpp>

Public Functions

Type	Name
	HesaiDriver () = delete
	HesaiDriver (const std::shared_ptr< const drivers::HesaiSensorConfiguration > & sensor_configuration, const std::shared_ptr< const drivers::HesaiCalibrationConfigurationBase > & calibration_configuration) Constructor.
Status	get_status () Get current status of this driver.
std::tuple< drivers::NebulaPointCloudPtr, double >	parse_cloud_packet (const std::vector< uint8_t > & packet) Convert raw packet to pointcloud.
Status	set_calibration_configuration (const HesaiCalibrationConfigurationBase & calibration_configuration) Setting CalibrationConfiguration (not used)

Public Functions Documentation

function HesaiDriver [1/2]

nebula::drivers::HesaiDriver::HesaiDriver () = delete

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function HesaiDriver [2/2]

Constructor.

explicit nebula::drivers::HesaiDriver::HesaiDriver (
    const std::shared_ptr< const drivers::HesaiSensorConfiguration > & sensor_configuration,
    const std::shared_ptr< const drivers::HesaiCalibrationConfigurationBase > & calibration_configuration
) 

Parameters:

• sensor_configuration SensorConfiguration for this driver
• calibration_configuration CalibrationConfiguration for this driver (either HesaiCalibrationConfiguration for sensors other than AT128 or HesaiCorrection for AT128)

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function get_status

Get current status of this driver.

Status nebula::drivers::HesaiDriver::get_status () 

Returns:

Current status

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function parse_cloud_packet

Convert raw packet to pointcloud.

std::tuple< drivers::NebulaPointCloudPtr, double > nebula::drivers::HesaiDriver::parse_cloud_packet (
    const std::vector< uint8_t > & packet
) 

Parameters:

• packet Packet to convert

Returns:

Tuple of pointcloud and timestamp

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function set_calibration_configuration

Setting CalibrationConfiguration (not used)

Status nebula::drivers::HesaiDriver::set_calibration_configuration (
    const HesaiCalibrationConfigurationBase & calibration_configuration
) 

Parameters:

• calibration_configuration

Returns:

Resulting status

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