apollo::drivers::velodyne::Velodyne16Parser Class Reference

#include <velodyne_parser.h>

Inheritance diagram for apollo::drivers::velodyne::Velodyne16Parser:

Collaboration diagram for apollo::drivers::velodyne::Velodyne16Parser:

Public Member Functions
	Velodyne16Parser (const Config &config)
	~Velodyne16Parser ()
void	GeneratePointcloud (const std::shared_ptr< VelodyneScan > &scan_msg, std::shared_ptr< PointCloud > out_msg)
	Set up for data processing. More...
void	Order (std::shared_ptr< PointCloud > cloud)
Public Member Functions inherited from apollo::drivers::velodyne::VelodyneParser
	VelodyneParser ()
	VelodyneParser (const Config &config)
virtual	~VelodyneParser ()
virtual void	setup ()
const Calibration &	get_calibration ()
const double	get_last_timestamp ()

Additional Inherited Members
Protected Member Functions inherited from apollo::drivers::velodyne::VelodyneParser
PointXYZIT	get_nan_point (uint64_t timestamp)
void	init_angle_params (double view_direction, double view_width)
void	ComputeCoords (const float &raw_distance, const LaserCorrection &corrections, const uint16_t rotation, PointXYZIT *point)
	Compute coords with the data in block. More...
bool	is_scan_valid (int rotation, float distance)
uint64_t	GetGpsStamp (double current_stamp, double *previous_stamp, uint64_t *gps_base_usec)
Protected Attributes inherited from apollo::drivers::velodyne::VelodyneParser
const float(*	inner_time_ )[12][32]
Calibration	calibration_
float	sin_rot_table_ [ROTATION_MAX_UNITS]
float	cos_rot_table_ [ROTATION_MAX_UNITS]
double	last_time_stamp_
Config	config_
bool	need_two_pt_correction_
Mode	mode_

Constructor & Destructor Documentation

Velodyne16Parser()

apollo::drivers::velodyne::Velodyne16Parser::Velodyne16Parser ( const Config &  config )

explicit

~Velodyne16Parser()

apollo::drivers::velodyne::Velodyne16Parser::~Velodyne16Parser ( )

inline

Member Function Documentation

GeneratePointcloud()

void apollo::drivers::velodyne::Velodyne16Parser::GeneratePointcloud ( const std::shared_ptr< VelodyneScan > &  scan_msg, std::shared_ptr< PointCloud >  out_msg  )

virtual

Set up for data processing.

Perform initializations needed before data processing can begin:

• read device-specific angles calibration

Parameters

private_nh

private node handle for ROS parameters

Returns

0 if successful; errno value for failure

Implements apollo::drivers::velodyne::VelodyneParser.

Order()

void apollo::drivers::velodyne::Velodyne16Parser::Order ( std::shared_ptr< PointCloud >  cloud )

virtual

Implements apollo::drivers::velodyne::VelodyneParser.

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

• modules/drivers/lidar/velodyne/parser/velodyne_parser.h