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Namespace nebula::drivers::robosense_packet

Namespace List > nebula > drivers > robosense_packet

Namespaces

Type Name
namespace bpearl_v3
namespace bpearl_v4
namespace helios

Classes

Type Name
struct Block <typename UnitT, UnitN>
struct Body <typename BlockT, BlockN>
struct ChannelAngleCorrection
struct CorrectedHorizontalAngle
struct CorrectedVerticalAngle
struct Ethernet
struct FirmwareVersion
struct FovSetting
struct IpAddress
struct MacAddress
struct PacketBase <nBlocks, nChannels, maxReturns, degreeSubdivisions>
Base struct for all Robosense packets. This struct is not allowed to have any non-static members, otherwise memory layout is not guaranteed for the derived structs.
struct SensorCalibration
struct SerialNumber
struct Timestamp
struct Unit

Public Attributes

Type Name
constexpr uint8_t ANGLE_SIGN_FLAG = = 0x00

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< bpearl_v3::Packet > (const bpearl_v3::Packet &)
Get the distance unit of the given BpearlV3 packet in meters.
double get_dis_unit< bpearl_v4::Packet > (const bpearl_v4::Packet &)
Get the distance unit of the given BpearlV3 packet in meters.
std::string get_float_value (const uint16_t & raw_angle)
Convert raw angle value from packet to std::string.
size_t get_n_returns (ReturnMode 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 Attributes Documentation

variable ANGLE_SIGN_FLAG

constexpr uint8_t nebula::drivers::robosense_packet::ANGLE_SIGN_FLAG;

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::robosense_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< bpearl_v3::Packet >

Get the distance unit of the given BpearlV3 packet in meters. 

template<>
inline double nebula::drivers::robosense_packet::get_dis_unit< bpearl_v3::Packet > (
    const bpearl_v3::Packet &
)

Returns:

0.005m (0.5cm)

function get_dis_unit< bpearl_v4::Packet >

Get the distance unit of the given BpearlV3 packet in meters. 

template<>
inline double nebula::drivers::robosense_packet::get_dis_unit< bpearl_v4::Packet > (
    const bpearl_v4::Packet &
)

Returns:

0.0025m (0.25cm)

function get_float_value

Convert raw angle value from packet to std::string. 

inline std::string nebula::drivers::robosense_packet::get_float_value (
    const uint16_t & raw_angle
)

Parameters:

  • raw_angle The raw angle value from the packet

Returns:

The angle as std::string

function get_n_returns

Get the number of returns for a given return mode. 

inline size_t nebula::drivers::robosense_packet::get_n_returns (
    ReturnMode 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::robosense_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_robosense/decoders/bpearl_v3.hpp