Class nebula::drivers::VelodyneDriver

ClassList > nebula > drivers > VelodyneDriver

Velodyne driver.

• #include <velodyne_driver.hpp>

Inherits the following classes: NebulaDriverBase

Public Functions

Type	Name
	VelodyneDriver () = delete
	VelodyneDriver (const std::shared_ptr< const drivers::VelodyneSensorConfiguration > & sensor_configuration, const std::shared_ptr< const drivers::VelodyneCalibrationConfiguration > & calibration_configuration) Constructor.
Status	get_status () Get current status of this driver.
std::tuple< drivers::NebulaPointCloudPtr, double >	parse_cloud_packet (const std::vector< uint8_t > & packet, double packet_seconds) Convert VelodyneScan message to point cloud.
Status	set_calibration_configuration (const CalibrationConfigurationBase & calibration_configuration) override Setting CalibrationConfiguration (not used)

Public Functions Documentation

function VelodyneDriver [1/2]

nebula::drivers::VelodyneDriver::VelodyneDriver () = delete

---

function VelodyneDriver [2/2]

Constructor.

nebula::drivers::VelodyneDriver::VelodyneDriver (
    const std::shared_ptr< const drivers::VelodyneSensorConfiguration > & sensor_configuration,
    const std::shared_ptr< const drivers::VelodyneCalibrationConfiguration > & calibration_configuration
) 

Parameters:

• sensor_configuration SensorConfiguration for this driver
• calibration_configuration CalibrationConfiguration for this driver

---

function get_status

Get current status of this driver.

Status nebula::drivers::VelodyneDriver::get_status () 

Returns:

Current status

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function parse_cloud_packet

Convert VelodyneScan message to point cloud.

std::tuple< drivers::NebulaPointCloudPtr, double > nebula::drivers::VelodyneDriver::parse_cloud_packet (
    const std::vector< uint8_t > & packet,
    double packet_seconds
) 

Parameters:

• velodyne_scan Message

Returns:

tuple of Point cloud and timestamp

---

function set_calibration_configuration

Setting CalibrationConfiguration (not used)

Status nebula::drivers::VelodyneDriver::set_calibration_configuration (
    const CalibrationConfigurationBase & calibration_configuration
) override

Parameters:

• calibration_configuration

Returns:

Resulting status

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The documentation for this class was generated from the following file src/nebula_velodyne/nebula_velodyne_decoders/include/nebula_velodyne_decoders/velodyne_driver.hpp