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Class nebula::drivers::PandarXT32

ClassList > nebula > drivers > PandarXT32

  • #include <pandar_xt32.hpp>

Inherits the following classes: nebula::drivers::HesaiSensor

Public Types inherited from nebula::drivers::HesaiSensor

See nebula::drivers::HesaiSensor

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 Static Attributes

Type Name
constexpr float MAX_RANGE = = 120.0f
constexpr size_t MAX_SCAN_BUFFER_POINTS = = 256000
constexpr float MIN_RANGE = = 0.05f

Public Functions

Type Name
virtual int getPacketRelativePointTimeOffset (uint32_t block_id, uint32_t channel_id, const packet_t & packet) override
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.
ReturnType getReturnType (hesai_packet::return_mode::ReturnMode return_mode, unsigned int return_idx, const std::vector< const typename packet_t::body_t::block_t::unit_t * > & return_units) override

Public Functions inherited from nebula::drivers::HesaiSensor

See nebula::drivers::HesaiSensor

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

Public Static Attributes Documentation

variable MAX_RANGE

constexpr float nebula::drivers::PandarXT32::MAX_RANGE;

variable MAX_SCAN_BUFFER_POINTS

constexpr size_t nebula::drivers::PandarXT32::MAX_SCAN_BUFFER_POINTS;

variable MIN_RANGE

constexpr float nebula::drivers::PandarXT32::MIN_RANGE;

Public Functions Documentation

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. 

inline virtual int nebula::drivers::PandarXT32::getPacketRelativePointTimeOffset (
    uint32_t block_id,
    uint32_t channel_id,
    const packet_t & packet
) override

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

Implements nebula::drivers::HesaiSensor::getPacketRelativePointTimeOffset

function getReturnType

inline ReturnType nebula::drivers::PandarXT32::getReturnType (
    hesai_packet::return_mode::ReturnMode return_mode,
    unsigned int return_idx,
    const std::vector< const typename packet_t::body_t::block_t::unit_t * > & return_units
) override

The documentation for this class was generated from the following file nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_xt32.hpp