Class nebula::drivers::continental_ars548::ContinentalARS548HwInterface
ClassList > nebula > drivers > continental_ars548 > ContinentalARS548HwInterface
Hardware interface of the Continental ARS548 radar.
#include <continental_ars548_hw_interface.hpp>
Public Functions
Type | Name |
---|---|
ContinentalARS548HwInterface () Constructor. |
|
Status | register_packet_callback (std::function< void(std::unique_ptr< nebula_msgs::msg::NebulaPacket >)> packet_callback) Registering callback. |
Status | sensor_interface_start () Starting the interface that handles UDP streams. |
Status | sensor_interface_stop () Function for stopping the interface that handles UDP streams. |
Status | set_acceleration_lateral_cog (float lateral_acceleration) Set the current lateral acceleration. |
Status | set_acceleration_longitudinal_cog (float longitudinal_acceleration) Set the current longitudinal acceleration. |
Status | set_characteristic_speed (float characteristic_speed) Set the characteristic speed. |
Status | set_driving_direction (int direction) Set the current direction. |
void | set_logger (std::shared_ptr< rclcpp::Logger > node) Setting rclcpp::Logger. |
Status | set_radar_parameters (uint16_t maximum_distance, uint8_t frequency_slot, uint8_t cycle_time, uint8_t time_slot, uint8_t hcc, uint8_t power_save_standstill) Set the radar parameters. |
Status | set_sensor_configuration (std::shared_ptr< const ContinentalARS548SensorConfiguration > sensor_configuration) Setting sensor configuration. |
Status | set_sensor_ip_address (const std::string & sensor_ip_address) Set the sensor ip address. |
Status | set_sensor_mounting (float longitudinal_autosar, float lateral_autosar, float vertical_autosar, float yaw_autosar, float pitch_autosar, uint8_t plug_orientation) Set the sensor mounting parameters. |
Status | set_steering_angle_front_axle (float angle_rad) Set the current steering angle. |
Status | set_vehicle_parameters (float length_autosar, float width_autosar, float height_autosar, float wheel_base_autosar) Set the vehicle parameters. |
Status | set_velocity_vehicle (float velocity) Set the current vehicle velocity. |
Status | set_yaw_rate (float yaw_rate) Set the current yaw rate. |
Public Functions Documentation
function ContinentalARS548HwInterface
nebula::drivers::continental_ars548::ContinentalARS548HwInterface::ContinentalARS548HwInterface ()
function register_packet_callback
Registering callback.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::register_packet_callback (
std::function< void(std::unique_ptr< nebula_msgs::msg::NebulaPacket >)> packet_callback
)
Parameters:
callback
Callback function
Returns:
Resulting status
function sensor_interface_start
Starting the interface that handles UDP streams.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::sensor_interface_start ()
Returns:
Resulting status
function sensor_interface_stop
Function for stopping the interface that handles UDP streams.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::sensor_interface_stop ()
Returns:
Resulting status
function set_acceleration_lateral_cog
Set the current lateral acceleration.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::set_acceleration_lateral_cog (
float lateral_acceleration
)
Parameters:
lateral_acceleration
Current lateral acceleration
Returns:
Resulting status
function set_acceleration_longitudinal_cog
Set the current longitudinal acceleration.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::set_acceleration_longitudinal_cog (
float longitudinal_acceleration
)
Parameters:
longitudinal_acceleration
Current longitudinal acceleration
Returns:
Resulting status
function set_characteristic_speed
Set the characteristic speed.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::set_characteristic_speed (
float characteristic_speed
)
Parameters:
characteristic_speed
Characteristic speed
Returns:
Resulting status
function set_driving_direction
Set the current direction.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::set_driving_direction (
int direction
)
Parameters:
direction
Current driving direction
Returns:
Resulting status
function set_logger
Setting rclcpp::Logger.
void nebula::drivers::continental_ars548::ContinentalARS548HwInterface::set_logger (
std::shared_ptr< rclcpp::Logger > node
)
Parameters:
node
Logger
function set_radar_parameters
Set the radar parameters.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::set_radar_parameters (
uint16_t maximum_distance,
uint8_t frequency_slot,
uint8_t cycle_time,
uint8_t time_slot,
uint8_t hcc,
uint8_t power_save_standstill
)
Parameters:
maximum_distance
Desired maximum detection distance (93m <= v <= 1514m)frequency_slot
Desired frequency slot (0 = Low (76.23 GHz), 1 = Mid (76.48 GHz), 2 = High (76.73 GHz))cycle_time
Desired cycle time value (50ms <= v <= 100ms)time_slot
Desired time slot value (10ms <= v <= 90ms)hcc
Desired hcc value (1 = Worldwide, 2 = Japan)power_save_standstill
Desired power_save_standstill value (0 = Off, 1 = On)
Returns:
Resulting status
function set_sensor_configuration
Setting sensor configuration.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::set_sensor_configuration (
std::shared_ptr< const ContinentalARS548SensorConfiguration > sensor_configuration
)
Parameters:
sensor_configuration
SensorConfiguration for this interface
Returns:
Resulting status
function set_sensor_ip_address
Set the sensor ip address.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::set_sensor_ip_address (
const std::string & sensor_ip_address
)
Parameters:
sensor_ip_address
Desired sensor ip address
Returns:
Resulting status
function set_sensor_mounting
Set the sensor mounting parameters.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::set_sensor_mounting (
float longitudinal_autosar,
float lateral_autosar,
float vertical_autosar,
float yaw_autosar,
float pitch_autosar,
uint8_t plug_orientation
)
Parameters:
longitudinal_autosar
Desired longitudinal value in autosar coordinateslateral_autosar
Desired lateral value in autosar coordinatesvertical_autosar
Desired vertical value in autosar coordinatesyaw_autosar
Desired yaw value in autosar coordinatespitch_autosar
Desired pitch value in autosar coordinatesplug_orientation
Desired plug orientation (0 = PLUG_RIGHT, 1 = PLUG_LEFT)
Returns:
Resulting status
function set_steering_angle_front_axle
Set the current steering angle.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::set_steering_angle_front_axle (
float angle_rad
)
Parameters:
angle_rad
Current steering angle in radians
Returns:
Resulting status
function set_vehicle_parameters
Set the vehicle parameters.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::set_vehicle_parameters (
float length_autosar,
float width_autosar,
float height_autosar,
float wheel_base_autosar
)
Parameters:
length_autosar
Desired vehicle length valuewidth_autosar
Desired vehicle width valueheight_autosar
Desired height valuewheel_base_autosar
Desired wheel base value
Returns:
Resulting status
function set_velocity_vehicle
Set the current vehicle velocity.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::set_velocity_vehicle (
float velocity
)
Parameters:
velocity
Current vehicle velocity
Returns:
Resulting status
function set_yaw_rate
Set the current yaw rate.
Status nebula::drivers::continental_ars548::ContinentalARS548HwInterface::set_yaw_rate (
float yaw_rate
)
Parameters:
yaw_rate
Current yaw rate
Returns:
Resulting status
The documentation for this class was generated from the following file nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_continental/continental_ars548_hw_interface.hpp