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Class nebula::drivers::AngleCorrectorCalibrationBased

template <size_t ChannelN, size_t AngleUnit>

ClassList > nebula > drivers > AngleCorrectorCalibrationBased

  • #include <angle_corrector_calibration_based.hpp>

Inherits the following classes: nebula::drivers::AngleCorrector

Public Functions

Type Name
AngleCorrectorCalibrationBased (const std::shared_ptr< const RobosenseCalibrationConfiguration > & sensor_calibration)
virtual CorrectedAngleData get_corrected_angle_data (uint32_t block_azimuth, uint32_t channel_id) override
Get the corrected azimuth and elevation for a given block and channel, along with their sin/cos values.
virtual bool has_scanned (int current_azimuth, int last_azimuth) override
Returns true if the current azimuth lies in a different (new) scan compared to the last azimuth.

Public Functions inherited from nebula::drivers::AngleCorrector

See nebula::drivers::AngleCorrector

Type Name
AngleCorrector (const std::shared_ptr< const RobosenseCalibrationConfiguration > & sensor_calibration)
virtual CorrectedAngleData get_corrected_angle_data (uint32_t block_azimuth, uint32_t channel_id) = 0
Get the corrected azimuth and elevation for a given block and channel, along with their sin/cos values.
virtual bool has_scanned (int current_azimuth, int last_azimuth) = 0
Returns true if the current azimuth lies in a different (new) scan compared to the last azimuth.

Protected Attributes inherited from nebula::drivers::AngleCorrector

See nebula::drivers::AngleCorrector

Type Name
const std::shared_ptr< const RobosenseCalibrationConfiguration > sensor_calibration_

Public Functions Documentation

function AngleCorrectorCalibrationBased

inline explicit nebula::drivers::AngleCorrectorCalibrationBased::AngleCorrectorCalibrationBased (
    const std::shared_ptr< const RobosenseCalibrationConfiguration > & sensor_calibration
)

function get_corrected_angle_data

Get the corrected azimuth and elevation for a given block and channel, along with their sin/cos values. 

inline virtual CorrectedAngleData nebula::drivers::AngleCorrectorCalibrationBased::get_corrected_angle_data (
    uint32_t block_azimuth,
    uint32_t channel_id
) override

Parameters:

  • block_azimuth The block's azimuth (including optional fine azimuth), in the sensor's angle unit
  • channel_id The laser channel's id

Returns:

The corrected angles (azimuth, elevation) in radians and their sin/cos values

Implements nebula::drivers::AngleCorrector::get_corrected_angle_data

function has_scanned

Returns true if the current azimuth lies in a different (new) scan compared to the last azimuth. 

inline virtual bool nebula::drivers::AngleCorrectorCalibrationBased::has_scanned (
    int current_azimuth,
    int last_azimuth
) override

Parameters:

  • current_azimuth The current azimuth value in the sensor's angle resolution
  • last_azimuth The last azimuth in the sensor's angle resolution

Returns:

true if the current azimuth is in a different scan than the last one, false otherwise

Implements nebula::drivers::AngleCorrector::has_scanned

The documentation for this class was generated from the following file src/nebula_robosense/nebula_robosense_decoders/include/nebula_robosense_decoders/decoders/angle_corrector_calibration_based.hpp