Class nebula::drivers::RobosenseInfoDecoder
template <typename SensorT>
ClassList > nebula > drivers > RobosenseInfoDecoder
#include <robosense_info_decoder.hpp>
Inherits the following classes: nebula::drivers::RobosenseInfoDecoderBase
Public Functions
| Type | Name |
|---|---|
| RobosenseInfoDecoder () Constructor. |
|
| virtual ReturnMode | get_return_mode () override Get the laser return mode. |
| virtual RobosenseCalibrationConfiguration | get_sensor_calibration () override Get sensor calibration. |
| virtual std::map< std::string, std::string > | get_sensor_info () override Get the sensor telemetry. |
| virtual bool | get_sync_status () override Get the status of time synchronization. |
| virtual bool | parse_packet (const std::vector< uint8_t > & raw_packet) override Validates and parses DIFOP packet. Currently only checks size, not checksums etc. |
Public Functions inherited from nebula::drivers::RobosenseInfoDecoderBase
See nebula::drivers::RobosenseInfoDecoderBase
| Type | Name |
|---|---|
| RobosenseInfoDecoderBase (RobosenseInfoDecoderBase && c) = delete |
|
| RobosenseInfoDecoderBase (const RobosenseInfoDecoderBase & c) = delete |
|
| RobosenseInfoDecoderBase () = default |
|
| virtual ReturnMode | get_return_mode () = 0 Get the laser return mode. |
| virtual RobosenseCalibrationConfiguration | get_sensor_calibration () = 0 Get sensor calibration. |
| virtual std::map< std::string, std::string > | get_sensor_info () = 0 Get the sensor telemetry. |
| virtual bool | get_sync_status () = 0 Get the status of time synchronization. |
| RobosenseInfoDecoderBase & | operator= (RobosenseInfoDecoderBase && c) = delete |
| RobosenseInfoDecoderBase & | operator= (const RobosenseInfoDecoderBase & c) = delete |
| virtual bool | parse_packet (const std::vector< uint8_t > & raw_packet) = 0 Parses DIFOP and add its telemetry. |
| virtual | ~RobosenseInfoDecoderBase () = default |
Protected Attributes
| Type | Name |
|---|---|
| rclcpp::Logger | logger_ |
| SensorT::info_t | packet_ = {} The last decoded packet. |
| SensorT | sensor_ = {} The sensor definition, used for return mode and time offset handling. |
Public Functions Documentation
function RobosenseInfoDecoder
inline nebula::drivers::RobosenseInfoDecoder::RobosenseInfoDecoder ()
function get_return_mode
Get the laser return mode.
inline virtual ReturnMode nebula::drivers::RobosenseInfoDecoder::get_return_mode () override
Returns:
The laser return mode
Implements nebula::drivers::RobosenseInfoDecoderBase::get_return_mode
function get_sensor_calibration
Get sensor calibration.
inline virtual RobosenseCalibrationConfiguration nebula::drivers::RobosenseInfoDecoder::get_sensor_calibration () override
Returns:
The sensor calibration
Implements nebula::drivers::RobosenseInfoDecoderBase::get_sensor_calibration
function get_sensor_info
Get the sensor telemetry.
inline virtual std::map< std::string, std::string > nebula::drivers::RobosenseInfoDecoder::get_sensor_info () override
Returns:
The sensor telemetry
Implements nebula::drivers::RobosenseInfoDecoderBase::get_sensor_info
function get_sync_status
Get the status of time synchronization.
inline virtual bool nebula::drivers::RobosenseInfoDecoder::get_sync_status () override
Returns:
True if the sensor's clock is synchronized
Implements nebula::drivers::RobosenseInfoDecoderBase::get_sync_status
function parse_packet
Validates and parses DIFOP packet. Currently only checks size, not checksums etc.
inline virtual bool nebula::drivers::RobosenseInfoDecoder::parse_packet (
const std::vector< uint8_t > & raw_packet
) override
Parameters:
- raw_packet The incoming DIFOP packet
Returns:
Whether the packet was parsed successfully
Implements nebula::drivers::RobosenseInfoDecoderBase::parse_packet
Protected Attributes Documentation
variable logger_
rclcpp::Logger nebula::drivers::RobosenseInfoDecoder< SensorT >::logger_;
variable packet_
SensorT::info_t nebula::drivers::RobosenseInfoDecoder< SensorT >::packet_;
variable sensor_
SensorT nebula::drivers::RobosenseInfoDecoder< SensorT >::sensor_;
The documentation for this class was generated from the following file nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_info_decoder.hpp