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Class nebula::drivers::HesaiSensor

template <typename PacketT, AngleCorrectionType AngleCorrection>

ClassList > nebula > drivers > HesaiSensor

Base class for all sensor definitions. More...

  • #include <hesai_sensor.hpp>

Public Types

Type Name
typedef typename std::conditional<(AngleCorrection==AngleCorrectionType::CALIBRATION), AngleCorrectorCalibrationBased< PacketT::N_CHANNELS, PacketT::DEGREE_SUBDIVISIONS >, AngleCorrectorCorrectionBased< PacketT::N_CHANNELS, PacketT::DEGREE_SUBDIVISIONS > >::type angle_corrector_t
typedef PacketT packet_t

Public Functions

Type Name
HesaiSensor () = default
int getEarliestPointTimeOffsetForBlock (uint32_t start_block_id, const PacketT & packet)
For a given start block index, find the earliest (lowest) relative time offset of any point in the packet in or after the start block.
virtual int getPacketRelativePointTimeOffset (uint32_t block_id, uint32_t channel_id, const PacketT & packet) = 0
Computes the exact relative time between the timestamp of the given packet and the one of the point identified by the given block and channel, in nanoseconds.
virtual ReturnType getReturnType (hesai_packet::return_mode::ReturnMode return_mode, unsigned int return_idx, const std::vector< const typename PacketT::body_t::block_t::unit_t * > & return_units)
Get the return type of the point given by return_idx.
virtual ~HesaiSensor () = default

Detailed Description

Template parameters:

  • PacketT The packet type of the sensor

Public Types Documentation

typedef angle_corrector_t

using nebula::drivers::HesaiSensor< PacketT, AngleCorrection >::angle_corrector_t =  typename std::conditional< (AngleCorrection == AngleCorrectionType::CALIBRATION), AngleCorrectorCalibrationBased<PacketT::N_CHANNELS, PacketT::DEGREE_SUBDIVISIONS>, AngleCorrectorCorrectionBased<PacketT::N_CHANNELS, PacketT::DEGREE_SUBDIVISIONS> >::type;

typedef packet_t

using nebula::drivers::HesaiSensor< PacketT, AngleCorrection >::packet_t =  PacketT;

Public Functions Documentation

function HesaiSensor

nebula::drivers::HesaiSensor::HesaiSensor () = default

function getEarliestPointTimeOffsetForBlock

For a given start block index, find the earliest (lowest) relative time offset of any point in the packet in or after the start block. 

inline int nebula::drivers::HesaiSensor::getEarliestPointTimeOffsetForBlock (
    uint32_t start_block_id,
    const PacketT & packet
)

Parameters:

  • start_block_id The index of the block in and after which to consider points
  • packet The packet

Returns:

The lowest point time offset (relative to the packet timestamp) of any point in or after the start block, in nanoseconds

function getPacketRelativePointTimeOffset

Computes the exact relative time between the timestamp of the given packet and the one of the point identified by the given block and channel, in nanoseconds. 

virtual int nebula::drivers::HesaiSensor::getPacketRelativePointTimeOffset (
    uint32_t block_id,
    uint32_t channel_id,
    const PacketT & packet
) = 0

Parameters:

  • block_id The point's block id
  • channel_id The point's channel id
  • packet The packet

Returns:

The relative time offset in nanoseconds

function getReturnType

Get the return type of the point given by return_idx. 

inline virtual ReturnType nebula::drivers::HesaiSensor::getReturnType (
    hesai_packet::return_mode::ReturnMode return_mode,
    unsigned int return_idx,
    const std::vector< const typename PacketT::body_t::block_t::unit_t * > & return_units
)

For duplicate points, the return type is reported as ReturnType::IDENTICAL for all identical points. For DUAL_LAST_STRONGEST and DUAL_FIRST_STRONGEST, if the last/first point is also the strongest, it will be returned as ReturnType::LAST_STRONGEST / ReturnType::FIRST_STRONGEST respectively, with the second point being reported as ReturnType::SECONDSTRONGEST.

Parameters:

  • return_mode The sensor's currently active return mode
  • return_idx The block index of the point within the group of blocks that make up the return group (e.g. either 0 or 1 for dual return)
  • return_units The units corresponding to all the returns in the group. These are usually from the same column across adjascent blocks.

Returns:

The return type of the point

function ~HesaiSensor

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

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