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Class nebula::drivers::HesaiDriver

ClassList > nebula > drivers > HesaiDriver

Hesai driver.

  • #include <hesai_driver.hpp>

Public Functions

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

Public Functions Documentation

function GetStatus

Get current status of this driver. 

Status nebula::drivers::HesaiDriver::GetStatus ()

Returns:

Current status

function HesaiDriver [1/2]

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

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)

function ParseCloudPacket

Convert raw packet to pointcloud. 

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

Parameters:

  • packet Packet to convert

Returns:

Tuple of pointcloud and timestamp

function SetCalibrationConfiguration

Setting CalibrationConfiguration (not used) 

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

Parameters:

  • calibration_configuration

Returns:

Resulting status

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