Class nebula::drivers::HesaiScanDecoder

ClassList > nebula > drivers > HesaiScanDecoder

Base class for Hesai LiDAR decoder.

• #include <hesai_scan_decoder.hpp>

Inherited by the following classes: nebula::drivers::HesaiDecoder

Public Functions

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 HesaiScanDecoder [1/3]

nebula::drivers::HesaiScanDecoder::HesaiScanDecoder (
    HesaiScanDecoder && c
) = delete

---

function HesaiScanDecoder [2/3]

nebula::drivers::HesaiScanDecoder::HesaiScanDecoder (
    const HesaiScanDecoder & c
) = delete

---

function HesaiScanDecoder [3/3]

nebula::drivers::HesaiScanDecoder::HesaiScanDecoder () = default

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function get_pointcloud

Returns the point cloud and timestamp of the last scan.

virtual std::tuple< drivers::NebulaPointCloudPtr, double > nebula::drivers::HesaiScanDecoder::get_pointcloud () = 0

Returns:

A tuple of point cloud and timestamp in nanoseconds

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function has_scanned

Indicates whether one full scan is ready.

virtual bool nebula::drivers::HesaiScanDecoder::has_scanned () = 0

Returns:

Whether a scan is ready

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function operator=

HesaiScanDecoder & nebula::drivers::HesaiScanDecoder::operator= (
    HesaiScanDecoder && c
) = delete

---

function operator=

HesaiScanDecoder & nebula::drivers::HesaiScanDecoder::operator= (
    const HesaiScanDecoder & c
) = delete

---

function unpack

Parses PandarPacket and add its points to the point cloud.

virtual int nebula::drivers::HesaiScanDecoder::unpack (
    const std::vector< uint8_t > & packet
) = 0

Parameters:

• packet The incoming PandarPacket

Returns:

The last azimuth processed

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function ~HesaiScanDecoder

virtual nebula::drivers::HesaiScanDecoder::~HesaiScanDecoder () = default

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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_scan_decoder.hpp