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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

Constructor. 

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 coordinates
  • lateral_autosar Desired lateral value in autosar coordinates
  • vertical_autosar Desired vertical value in autosar coordinates
  • yaw_autosar Desired yaw value in autosar coordinates
  • pitch_autosar Desired pitch value in autosar coordinates
  • plug_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 value
  • width_autosar Desired vehicle width value
  • height_autosar Desired height value
  • wheel_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