Inheritance diagram for apollo::drivers::hesai::Hesai40Parser:

Collaboration diagram for apollo::drivers::hesai::Hesai40Parser:

Public Member Functions
	Hesai40Parser (const std::shared_ptr<::apollo::cyber::Node > &node, const Config &conf)

	~Hesai40Parser ()

Public Member Functions inherited from apollo::drivers::hesai::Parser
	Parser (const std::shared_ptr<::apollo::cyber::Node > &node, const Config &conf)

virtual	~Parser ()

void	Parse (const uint8_t data, int size, bool is_end)

bool	Parse (const std::shared_ptr< HesaiScan > &scan)

bool	Init ()

Protected Member Functions
void	ParseRawPacket (const uint8_t buf, const int len, bool is_end) override

Protected Member Functions inherited from apollo::drivers::hesai::Parser
void	CheckPktTime (double time_sec)

void	ResetRawPointCloud ()

Additional Inherited Members
Protected Attributes inherited from apollo::drivers::hesai::Parser
bool	is_calibration_ = false

std::shared_ptr<::apollo::cyber::Node >	node_

Config	conf_

std::shared_ptr<::apollo::cyber::Writer< PointCloud > >	raw_pointcloud_writer_

int	pool_size_ = 8

int	pool_index_ = 0

uint64_t	raw_last_time_ = 0

int	seq_index_ = 0

std::deque< std::shared_ptr< PointCloud > >	raw_pointcloud_pool_

std::shared_ptr< PointCloud >	raw_pointcloud_out_ = nullptr

int	last_azimuth_ = 0

int	tz_second_ = 0

int	start_angle_ = 0

uint32_t	min_packets_ = HESAI40_MIN_PACKETS

uint32_t	max_packets_ = HESAI40_MAX_PACKETS

uint32_t	packet_nums_ = 0

double	elev_angle_map_ [LASER_COUNT_L64] = {0}

double	horizatal_azimuth_offset_map_ [LASER_COUNT_L64] = {0}

Constructor & Destructor Documentation

◆ Hesai40Parser()

apollo::drivers::hesai::Hesai40Parser::Hesai40Parser	(	const std::shared_ptr<::apollo::cyber::Node > &	node,
		const Config &	conf
	)

apollo::drivers::hesai::Hesai40Parser::~Hesai40Parser ( )

void apollo::drivers::hesai::Hesai40Parser::ParseRawPacket	(	const uint8_t *	buf,
		const int	len,
		bool *	is_end
	)

overrideprotectedvirtual

The documentation for this class was generated from the following file: