Class nebula::drivers::PandarXT32M
ClassList > nebula > drivers > PandarXT32M
#include <pandar_xt32m.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 = = 300.0f |
constexpr size_t | max_scan_buffer_points = = 384000 |
constexpr float | min_range = = 0.5f |
Public Functions
Type | Name |
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virtual int | get_packet_relative_point_time_offset (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. |
Public Functions inherited from nebula::drivers::HesaiSensor
See nebula::drivers::HesaiSensor
Type | Name |
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HesaiSensor () = default |
|
int | get_earliest_point_time_offset_for_block (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 | get_packet_relative_point_time_offset (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 | get_return_type (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::PandarXT32M::max_range;
variable max_scan_buffer_points
constexpr size_t nebula::drivers::PandarXT32M::max_scan_buffer_points;
variable min_range
constexpr float nebula::drivers::PandarXT32M::min_range;
Public Functions Documentation
function get_packet_relative_point_time_offset
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::PandarXT32M::get_packet_relative_point_time_offset (
uint32_t block_id,
uint32_t channel_id,
const packet_t & packet
) override
Parameters:
block_id
The point's block idchannel_id
The point's channel idpacket
The packet
Returns:
The relative time offset in nanoseconds
Implements nebula::drivers::HesaiSensor::get_packet_relative_point_time_offset
The documentation for this class was generated from the following file nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/pandar_xt32m.hpp