apollo::drivers::hesai::Parser Class Reference

#include <parser.h>

Inheritance diagram for apollo::drivers::hesai::Parser:

Collaboration diagram for apollo::drivers::hesai::Parser:

Public Member Functions
	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
virtual void	ParseRawPacket (const uint8_t *buf, const int len, bool *is_end)=0
void	CheckPktTime (double time_sec)
void	ResetRawPointCloud ()

Protected Attributes
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

Parser()

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

~Parser()

virtual apollo::drivers::hesai::Parser::~Parser ( )

virtual

Member Function Documentation

CheckPktTime()

void apollo::drivers::hesai::Parser::CheckPktTime ( double  time_sec )

protected

Init()

bool apollo::drivers::hesai::Parser::Init

(

)

Parse() [1/2]

void apollo::drivers::hesai::Parser::Parse	(	const uint8_t *	data,
		int	size,
		bool *	is_end
	)

Parse() [2/2]

bool apollo::drivers::hesai::Parser::Parse

(

const std::shared_ptr< HesaiScan > &

scan

)

ParseRawPacket()

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

protectedpure virtual

Implemented in apollo::drivers::hesai::Hesai40Parser, and apollo::drivers::hesai::Hesai64Parser.

ResetRawPointCloud()

void apollo::drivers::hesai::Parser::ResetRawPointCloud ( )

protected

Member Data Documentation

conf_

Config apollo::drivers::hesai::Parser::conf_

protected

elev_angle_map_

double apollo::drivers::hesai::Parser::elev_angle_map_[LASER_COUNT_L64] = {0}

protected

horizatal_azimuth_offset_map_

double apollo::drivers::hesai::Parser::horizatal_azimuth_offset_map_[LASER_COUNT_L64] = {0}

protected

is_calibration_

bool apollo::drivers::hesai::Parser::is_calibration_ = false

protected

last_azimuth_

int apollo::drivers::hesai::Parser::last_azimuth_ = 0

protected

max_packets_

uint32_t apollo::drivers::hesai::Parser::max_packets_ = HESAI40_MAX_PACKETS

protected

min_packets_

uint32_t apollo::drivers::hesai::Parser::min_packets_ = HESAI40_MIN_PACKETS

protected

node_

std::shared_ptr<::apollo::cyber::Node> apollo::drivers::hesai::Parser::node_

protected

packet_nums_

uint32_t apollo::drivers::hesai::Parser::packet_nums_ = 0

protected

pool_index_

int apollo::drivers::hesai::Parser::pool_index_ = 0

protected

pool_size_

int apollo::drivers::hesai::Parser::pool_size_ = 8

protected

raw_last_time_

uint64_t apollo::drivers::hesai::Parser::raw_last_time_ = 0

protected

raw_pointcloud_out_

std::shared_ptr<PointCloud> apollo::drivers::hesai::Parser::raw_pointcloud_out_ = nullptr

protected

raw_pointcloud_pool_

std::deque<std::shared_ptr<PointCloud> > apollo::drivers::hesai::Parser::raw_pointcloud_pool_

protected

raw_pointcloud_writer_

std::shared_ptr<::apollo::cyber::Writer<PointCloud> > apollo::drivers::hesai::Parser::raw_pointcloud_writer_

protected

seq_index_

int apollo::drivers::hesai::Parser::seq_index_ = 0

protected

start_angle_

int apollo::drivers::hesai::Parser::start_angle_ = 0

protected

tz_second_

int apollo::drivers::hesai::Parser::tz_second_ = 0

protected

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

• modules/drivers/lidar/hesai/parser/parser.h