Class nebula::drivers::vlp16::Vlp16Decoder

ClassList > nebula > drivers > vlp16 > Vlp16Decoder

Velodyne LiDAR decoder (VLP16)

• #include <vlp16_decoder.hpp>

Inherits the following classes: nebula::drivers::VelodyneScanDecoder

Public Functions

Type	Name
	Vlp16Decoder (const std::shared_ptr< const drivers::VelodyneSensorConfiguration > & sensor_configuration, const std::shared_ptr< const drivers::VelodyneCalibrationConfiguration > & calibration_configuration) Constructor.
virtual std::tuple< drivers::NebulaPointCloudPtr, double >	get_pointcloud () override Get the constructed point cloud.
virtual int	points_per_packet () override Calculation of points in each packet.
virtual void	reset_overflow (double time_stamp) override Resetting overflowed point cloud buffer.
virtual void	reset_pointcloud (double time_stamp) override Resetting point cloud buffer.
virtual void	unpack (const std::vector< uint8_t > & packet, double packet_seconds) override Parsing and shaping VelodynePacket.

Public Functions inherited from nebula::drivers::VelodyneScanDecoder

See nebula::drivers::VelodyneScanDecoder

Type	Name
	VelodyneScanDecoder (VelodyneScanDecoder && c) = delete
	VelodyneScanDecoder (const VelodyneScanDecoder & c) = delete
	VelodyneScanDecoder () = default
virtual std::tuple< drivers::NebulaPointCloudPtr, double >	get_pointcloud () = 0 Virtual function for getting the constructed point cloud.
bool	has_scanned () Virtual function for getting the flag indicating whether one cycle is ready.
VelodyneScanDecoder &	operator= (VelodyneScanDecoder && c) = delete
VelodyneScanDecoder &	operator= (const VelodyneScanDecoder & c) = delete
virtual bool	parse_packet (const velodyne_msgs::msg::VelodynePacket & velodyne_packet) = 0 Virtual function for parsing VelodynePacket based on packet structure.
virtual int	points_per_packet () = 0 Calculation of points in each packet.
virtual void	reset_overflow (double time_stamp) = 0 Resetting overflowed point cloud buffer.
virtual void	reset_pointcloud (double time_stamp) = 0 Resetting point cloud buffer.
virtual void	unpack (const std::vector< uint8_t > & packet, double packet_seconds) = 0 Virtual function for parsing and shaping VelodynePacket.
virtual	~VelodyneScanDecoder () = default

Protected Attributes inherited from nebula::drivers::VelodyneScanDecoder

See nebula::drivers::VelodyneScanDecoder

Type	Name
std::shared_ptr< const drivers::VelodyneCalibrationConfiguration >	calibration_configuration_ Calibration for this decoder.
double	dual_return_distance_threshold_ = {}
drivers::NebulaPointCloudPtr	overflow_pc_ Point cloud overflowing from one cycle.
drivers::NebulaPointCloudPtr	scan_pc_ Decoded point cloud.
double	scan_timestamp_ = {}
std::shared_ptr< const drivers::VelodyneSensorConfiguration >	sensor_configuration_ SensorConfiguration for this decoder.

Protected Functions inherited from nebula::drivers::VelodyneScanDecoder

See nebula::drivers::VelodyneScanDecoder

Type	Name
void	check_and_handle_scan_complete (const std::vector< uint8_t > & packet, double packet_seconds, const uint32_t phase) Checks if the current packet completes the ongoing scan. TODO: this has been moved from velodyne_hw_interface.cpp and is a temporary solution until the Velodyne decoder uses the same structure as Hesai/Robosense.

Public Functions Documentation

function Vlp16Decoder

Constructor.

explicit nebula::drivers::vlp16::Vlp16Decoder::Vlp16Decoder (
    const std::shared_ptr< const drivers::VelodyneSensorConfiguration > & sensor_configuration,
    const std::shared_ptr< const drivers::VelodyneCalibrationConfiguration > & calibration_configuration
) 

Parameters:

• sensor_configuration SensorConfiguration for this decoder
• calibration_configuration Calibration for this decoder

---

function get_pointcloud

Get the constructed point cloud.

virtual std::tuple< drivers::NebulaPointCloudPtr, double > nebula::drivers::vlp16::Vlp16Decoder::get_pointcloud () override

Returns:

tuple of Point cloud and timestamp

Implements nebula::drivers::VelodyneScanDecoder::get_pointcloud

---

function points_per_packet

Calculation of points in each packet.

virtual int nebula::drivers::vlp16::Vlp16Decoder::points_per_packet () override

Returns:

of points

Implements nebula::drivers::VelodyneScanDecoder::points_per_packet

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function reset_overflow

virtual void nebula::drivers::vlp16::Vlp16Decoder::reset_overflow (
    double time_stamp
) override

Implements nebula::drivers::VelodyneScanDecoder::reset_overflow

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function reset_pointcloud

virtual void nebula::drivers::vlp16::Vlp16Decoder::reset_pointcloud (
    double time_stamp
) override

Implements nebula::drivers::VelodyneScanDecoder::reset_pointcloud

---

function unpack

Parsing and shaping VelodynePacket.

virtual void nebula::drivers::vlp16::Vlp16Decoder::unpack (
    const std::vector< uint8_t > & packet,
    double packet_seconds
) override

Parameters:

• velodyne_packet

Implements nebula::drivers::VelodyneScanDecoder::unpack

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The documentation for this class was generated from the following file nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/vlp16_decoder.hpp