Class nebula::drivers::RobosenseScanDecoder

ClassList > nebula > drivers > RobosenseScanDecoder

Base class for Robosense LiDAR decoder.

• #include <robosense_scan_decoder.hpp>

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

Public Functions

Type	Name
	RobosenseScanDecoder (RobosenseScanDecoder && c) = delete
	RobosenseScanDecoder (const RobosenseScanDecoder & c) = delete
	RobosenseScanDecoder () = 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.
RobosenseScanDecoder &	operator= (RobosenseScanDecoder && c) = delete
RobosenseScanDecoder &	operator= (const RobosenseScanDecoder & c) = delete
virtual int	unpack (const std::vector< uint8_t > & msop_packet) = 0 Parses RobosensePacket and add its points to the point cloud.
virtual	~RobosenseScanDecoder () = default

Public Functions Documentation

function RobosenseScanDecoder [1/3]

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

---

function RobosenseScanDecoder [2/3]

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

---

function RobosenseScanDecoder [3/3]

nebula::drivers::RobosenseScanDecoder::RobosenseScanDecoder () = 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::RobosenseScanDecoder::get_pointcloud () = 0

Returns:

A tuple of point cloud and timestamp in nanoseconds

---

function has_scanned

Indicates whether one full scan is ready.

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

Returns:

Whether a scan is ready

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function operator=

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

---

function operator=

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

---

function unpack

Parses RobosensePacket and add its points to the point cloud.

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

Parameters:

• msop_packet The incoming MsopPacket

Returns:

The last azimuth processed

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function ~RobosenseScanDecoder

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

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