Class nebula::drivers::VelodyneDriver

ClassList > nebula > drivers > VelodyneDriver

Velodyne driver.

• #include <velodyne_driver.hpp>

Inherits the following classes: nebula::drivers::NebulaDriverBase

Public Functions

Type	Name
Status	GetStatus () Get current status of this driver.
std::tuple< drivers::NebulaPointCloudPtr, double >	ParseCloudPacket (const std::vector< uint8_t > & packet, int32_t packet_seconds) Convert VelodyneScan message to point cloud.
virtual Status	SetCalibrationConfiguration (const CalibrationConfigurationBase & calibration_configuration) override Setting CalibrationConfiguration (not used)
	VelodyneDriver () = delete
	VelodyneDriver (const std::shared_ptr< const drivers::VelodyneSensorConfiguration > & sensor_configuration, const std::shared_ptr< const drivers::VelodyneCalibrationConfiguration > & calibration_configuration) Constructor.

Public Functions inherited from nebula::drivers::NebulaDriverBase

See nebula::drivers::NebulaDriverBase

Type	Name
	NebulaDriverBase (NebulaDriverBase && c) = delete
	NebulaDriverBase (const NebulaDriverBase & c) = delete
	NebulaDriverBase () = default
virtual Status	SetCalibrationConfiguration (const CalibrationConfigurationBase & calibration_configuration) = 0 Virtual function for setting calibration configuration.
NebulaDriverBase &	operator= (NebulaDriverBase && c) = delete
NebulaDriverBase &	operator= (const NebulaDriverBase & c) = delete

Public Functions Documentation

function GetStatus

Get current status of this driver.

Status nebula::drivers::VelodyneDriver::GetStatus () 

Returns:

Current status

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function ParseCloudPacket

Convert VelodyneScan message to point cloud.

std::tuple< drivers::NebulaPointCloudPtr, double > nebula::drivers::VelodyneDriver::ParseCloudPacket (
    const std::vector< uint8_t > & packet,
    int32_t packet_seconds
) 

Parameters:

• velodyne_scan Message

Returns:

tuple of Point cloud and timestamp

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function SetCalibrationConfiguration

Setting CalibrationConfiguration (not used)

virtual Status nebula::drivers::VelodyneDriver::SetCalibrationConfiguration (
    const CalibrationConfigurationBase & calibration_configuration
) override

Parameters:

• calibration_configuration

Returns:

Resulting status

Implements nebula::drivers::NebulaDriverBase::SetCalibrationConfiguration

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function VelodyneDriver [1/2]

nebula::drivers::VelodyneDriver::VelodyneDriver () = delete

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function VelodyneDriver [2/2]

Constructor.

nebula::drivers::VelodyneDriver::VelodyneDriver (
    const std::shared_ptr< const drivers::VelodyneSensorConfiguration > & sensor_configuration,
    const std::shared_ptr< const drivers::VelodyneCalibrationConfiguration > & calibration_configuration
) 

Parameters:

• sensor_configuration SensorConfiguration for this driver
• calibration_configuration CalibrationConfiguration for this driver

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The documentation for this class was generated from the following file nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/velodyne_driver.hpp