Namespace nebula::drivers::hesai_packet
Namespace List > nebula > drivers > hesai_packet
Namespaces
Type | Name |
---|---|
namespace | return_mode |
Classes
Type | Name |
---|---|
struct | Block <typename UnitT, UnitN> |
struct | Body <typename BlockT, BlockN> |
struct | DateTime <YearOffset> DateTime struct for Hesai packets. |
struct | FineAzimuthBlock <typename UnitT, UnitN> |
struct | FunctionalSafety |
struct | Header12B |
struct | Header8B |
struct | Packet128E3X |
struct | Packet40P |
struct | Packet64 |
struct | PacketAT128E2X |
struct | PacketBase <nBlocks, nChannels, maxReturns, degreeSubdivisions> Base struct for all Hesai packets. This struct is not allowed to have any non-static members, otherwise memory layout is not guaranteed for the derived structs. |
struct | PacketQT128C2X |
struct | PacketQT64 |
struct | PacketXT32 |
struct | PacketXT32M2X |
struct | SOBBlock <typename UnitT, UnitN> |
struct | SecondsSinceEpoch |
struct | Tail128E3X |
struct | Tail40P |
struct | TailAT128E2X |
struct | TailQT128C2X |
struct | TailQT64 |
struct | TailXT32 |
struct | Unit3B |
struct | Unit4B |
Public Types
Type | Name |
---|---|
typedef Packet128E3X | Packet128E4X |
typedef Tail40P | Tail64 |
typedef TailXT32 | TailXT32M2X |
Public Functions
Type | Name |
---|---|
double | get_dis_unit (const PacketT & packet) Get the distance unit of the given packet type in meters. Distance values in the packet, multiplied by this value, yield the distance in meters. |
double | get_dis_unit< Packet40P > (const Packet40P &) Get the distance unit of the given Packet40P packet in meters. This is the only packet type without a header. |
int | get_n_returns (uint8_t return_mode) Get the number of returns for a given return mode. |
uint64_t | get_timestamp_ns (const PacketT & packet) Get timestamp from packet in nanoseconds. |
Public Types Documentation
typedef Packet128E4X
using nebula::drivers::hesai_packet::Packet128E4X = typedef Packet128E3X;
typedef Tail64
using nebula::drivers::hesai_packet::Tail64 = typedef Tail40P;
typedef TailXT32M2X
using nebula::drivers::hesai_packet::TailXT32M2X = typedef TailXT32;
Public Functions Documentation
function get_dis_unit
Get the distance unit of the given packet type in meters. Distance values in the packet, multiplied by this value, yield the distance in meters.
template<typename PacketT>
double nebula::drivers::hesai_packet::get_dis_unit (
const PacketT & packet
)
Template parameters:
PacketT
The packet type
Parameters:
packet
The packet to get the distance unit from
Returns:
The distance unit in meters
function get_dis_unit< Packet40P >
Get the distance unit of the given Packet40P packet in meters. This is the only packet type without a header.
template<>
inline double nebula::drivers::hesai_packet::get_dis_unit< Packet40P > (
const Packet40P &
)
Returns:
0.004 (4mm)
function get_n_returns
Get the number of returns for a given return mode.
inline int nebula::drivers::hesai_packet::get_n_returns (
uint8_t return_mode
)
Parameters:
- return_mode The return mode
Returns:
The number of returns
function get_timestamp_ns
Get timestamp from packet in nanoseconds.
template<typename PacketT>
uint64_t nebula::drivers::hesai_packet::get_timestamp_ns (
const PacketT & packet
)
Template parameters:
PacketT
The packet type
Parameters:
packet
The packet to get the timestamp from
Returns:
The timestamp in nanoseconds
The documentation for this class was generated from the following file nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp