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Namespaces
	apollo
	PlanningContext is the runtime context in planning. It is persistent across multiple frames.

	apollo::drivers
	apollo::drivers

	apollo::drivers::hesai

Variables
const int	apollo::drivers::hesai::SOB_ANGLE_SIZE = 4

const int	apollo::drivers::hesai::RAW_MEASURE_SIZE = 3

const int	apollo::drivers::hesai::LASER_COUNT = 40

const int	apollo::drivers::hesai::BLOCKS_PER_PACKET = 10

const int	apollo::drivers::hesai::BLOCK_SIZE = RAW_MEASURE_SIZE * LASER_COUNT + SOB_ANGLE_SIZE

const int	apollo::drivers::hesai::HESAI40_ONE_PACKET_POINTS = LASER_COUNT * BLOCKS_PER_PACKET

const int	apollo::drivers::hesai::HESAI40_MAX_PACKETS = 200

const int	apollo::drivers::hesai::HESAI40_MIN_PACKETS = 90

const int	apollo::drivers::hesai::TIMESTAMP_SIZE = 4

const int	apollo::drivers::hesai::FACTORY_INFO_SIZE = 1

const int	apollo::drivers::hesai::ECHO_SIZE = 1

const int	apollo::drivers::hesai::RESERVE_SIZE = 8

const int	apollo::drivers::hesai::REVOLUTION_SIZE = 2

const int	apollo::drivers::hesai::INFO_SIZE

const int	apollo::drivers::hesai::UTC_TIME = 6

const int	apollo::drivers::hesai::UDP_SEQUENCE_SIZE = 4

const int	apollo::drivers::hesai::PACKET_SIZE = (BLOCK_SIZE * BLOCKS_PER_PACKET + INFO_SIZE + UTC_TIME)

const int	apollo::drivers::hesai::PACKET_SIZE_WITH_UDPSEQ = (PACKET_SIZE + UDP_SEQUENCE_SIZE)

const double	apollo::drivers::hesai::LASER_RETURN_TO_DISTANCE_RATE = 0.004

const int	apollo::drivers::hesai::HEAD_SIZE = 8

const int	apollo::drivers::hesai::BLOCKS_PER_PACKET_L64 = 6

const int	apollo::drivers::hesai::BLOCK_AZIMUTH_SIZE = 2

const int	apollo::drivers::hesai::LASER_COUNT_L64 = 64

const int	apollo::drivers::hesai::HS_LIDAR_L64_UNIT_SIZE = 3

const int	apollo::drivers::hesai::BLOCK_SIZE_L64

const int	apollo::drivers::hesai::ENGINE_VELOCITY_SIZE = 2

const int	apollo::drivers::hesai::PACKET_SIZE_L64

const int	apollo::drivers::hesai::PACKET_SIZE_L64_WITH_UDPSEQ = (PACKET_SIZE_L64 + UDP_SEQUENCE_SIZE)

const int	apollo::drivers::hesai::HESAI64_ONE_PACKET_POINTS = LASER_COUNT_L64 * BLOCKS_PER_PACKET_L64

const int	apollo::drivers::hesai::HESAI64_MAX_PACKETS = 350

const int	apollo::drivers::hesai::HESAI64_MIN_PACKETS = 150

const int	apollo::drivers::hesai::ETHERNET_MTU = 1500

const int	apollo::drivers::hesai::GPS_PACKET_SIZE = 512

const int	apollo::drivers::hesai::GPS_PACKET_FLAG_SIZE = 2

const int	apollo::drivers::hesai::GPS_PACKET_YEAR_SIZE = 2

const int	apollo::drivers::hesai::GPS_PACKET_MONTH_SIZE = 2

const int	apollo::drivers::hesai::GPS_PACKET_DAY_SIZE = 2

const int	apollo::drivers::hesai::GPS_PACKET_HOUR_SIZE = 2

const int	apollo::drivers::hesai::GPS_PACKET_MINUTE_SIZE = 2

const int	apollo::drivers::hesai::GPS_PACKET_SECOND_SIZE = 2

const int	apollo::drivers::hesai::GPS_ITEM_NUM = 7

const double	apollo::drivers::hesai::PI = 3.14159265358979323846

Namespaces

Variables