apollo::drivers::hesai Namespace Reference

Classes
struct	Command
struct	CommandHeader
struct	GPS
struct	Hesai40Packet
class	Hesai40Parser
struct	Hesai40PBlock
struct	Hesai40PUnit
struct	Hesai64Block
struct	Hesai64Header
struct	Hesai64Packet
class	Hesai64Parser
struct	Hesai64Unit
class	HesaiComponent
class	HesaiConvertComponent
class	HesaiDriver
struct	HesaiPacket
class	Input
class	Parser
class	ParserFactory
class	TcpCmdClient

Typedefs
typedef struct apollo::drivers::hesai::HesaiPacket	HesaiPacket
typedef struct apollo::drivers::hesai::Hesai40PUnit	Hesai40PUnit
typedef struct apollo::drivers::hesai::Hesai40PBlock	Hesai40PBlock
typedef struct apollo::drivers::hesai::Hesai40Packet	Hesai40Packet
typedef struct apollo::drivers::hesai::Hesai64Header	Hesai64Header
typedef struct apollo::drivers::hesai::Hesai64Unit	Hesai64Unit
typedef struct apollo::drivers::hesai::Hesai64Block	Hesai64Block
typedef struct apollo::drivers::hesai::Hesai64Packet	Hesai64Packet
typedef struct apollo::drivers::hesai::GPS	Gps
typedef struct apollo::drivers::hesai::CommandHeader	CommandHeader
typedef struct apollo::drivers::hesai::Command	Command

Enumerations
enum	PTC_COMMAND {   PTC_COMMAND_GET_CALIBRATION = 0, PTC_COMMAND_SET_CALIBRATION, PTC_COMMAND_HEARTBEAT, PTC_COMMAND_RESET_CALIBRATION,   PTC_COMMAND_TEST, PTC_COMMAND_GET_LIDAR_CALIBRATION }

Functions
double	degreeToRadian (double degree)

Variables
const int	SOB_ANGLE_SIZE = 4
const int	RAW_MEASURE_SIZE = 3
const int	LASER_COUNT = 40
const int	BLOCKS_PER_PACKET = 10
const int	BLOCK_SIZE = RAW_MEASURE_SIZE * LASER_COUNT + SOB_ANGLE_SIZE
const int	HESAI40_ONE_PACKET_POINTS = LASER_COUNT * BLOCKS_PER_PACKET
const int	HESAI40_MAX_PACKETS = 200
const int	HESAI40_MIN_PACKETS = 90
const int	TIMESTAMP_SIZE = 4
const int	FACTORY_INFO_SIZE = 1
const int	ECHO_SIZE = 1
const int	RESERVE_SIZE = 8
const int	REVOLUTION_SIZE = 2
const int	INFO_SIZE
const int	UTC_TIME = 6
const int	UDP_SEQUENCE_SIZE = 4
const int	PACKET_SIZE = (BLOCK_SIZE * BLOCKS_PER_PACKET + INFO_SIZE + UTC_TIME)
const int	PACKET_SIZE_WITH_UDPSEQ = (PACKET_SIZE + UDP_SEQUENCE_SIZE)
const double	LASER_RETURN_TO_DISTANCE_RATE = 0.004
const int	HEAD_SIZE = 8
const int	BLOCKS_PER_PACKET_L64 = 6
const int	BLOCK_AZIMUTH_SIZE = 2
const int	LASER_COUNT_L64 = 64
const int	HS_LIDAR_L64_UNIT_SIZE = 3
const int	BLOCK_SIZE_L64
const int	ENGINE_VELOCITY_SIZE = 2
const int	PACKET_SIZE_L64
const int	PACKET_SIZE_L64_WITH_UDPSEQ = (PACKET_SIZE_L64 + UDP_SEQUENCE_SIZE)
const int	HESAI64_ONE_PACKET_POINTS = LASER_COUNT_L64 * BLOCKS_PER_PACKET_L64
const int	HESAI64_MAX_PACKETS = 350
const int	HESAI64_MIN_PACKETS = 150
const int	ETHERNET_MTU = 1500
const int	GPS_PACKET_SIZE = 512
const int	GPS_PACKET_FLAG_SIZE = 2
const int	GPS_PACKET_YEAR_SIZE = 2
const int	GPS_PACKET_MONTH_SIZE = 2
const int	GPS_PACKET_DAY_SIZE = 2
const int	GPS_PACKET_HOUR_SIZE = 2
const int	GPS_PACKET_MINUTE_SIZE = 2
const int	GPS_PACKET_SECOND_SIZE = 2
const int	GPS_ITEM_NUM = 7
const double	PI = 3.14159265358979323846

Typedef Documentation

Command

typedef struct apollo::drivers::hesai::Command apollo::drivers::hesai::Command

CommandHeader

typedef struct apollo::drivers::hesai::CommandHeader apollo::drivers::hesai::CommandHeader

Gps

typedef struct apollo::drivers::hesai::GPS apollo::drivers::hesai::Gps

Hesai40Packet

typedef struct apollo::drivers::hesai::Hesai40Packet apollo::drivers::hesai::Hesai40Packet

Hesai40PBlock

typedef struct apollo::drivers::hesai::Hesai40PBlock apollo::drivers::hesai::Hesai40PBlock

Hesai40PUnit

typedef struct apollo::drivers::hesai::Hesai40PUnit apollo::drivers::hesai::Hesai40PUnit

Hesai64Block

typedef struct apollo::drivers::hesai::Hesai64Block apollo::drivers::hesai::Hesai64Block

Hesai64Header

typedef struct apollo::drivers::hesai::Hesai64Header apollo::drivers::hesai::Hesai64Header

Hesai64Packet

typedef struct apollo::drivers::hesai::Hesai64Packet apollo::drivers::hesai::Hesai64Packet

Hesai64Unit

typedef struct apollo::drivers::hesai::Hesai64Unit apollo::drivers::hesai::Hesai64Unit

HesaiPacket

typedef struct apollo::drivers::hesai::HesaiPacket apollo::drivers::hesai::HesaiPacket

Enumeration Type Documentation

PTC_COMMAND

enum apollo::drivers::hesai::PTC_COMMAND

Enumerator
PTC_COMMAND_GET_CALIBRATION
PTC_COMMAND_SET_CALIBRATION
PTC_COMMAND_HEARTBEAT
PTC_COMMAND_RESET_CALIBRATION
PTC_COMMAND_TEST
PTC_COMMAND_GET_LIDAR_CALIBRATION

Function Documentation

degreeToRadian()

double apollo::drivers::hesai::degreeToRadian ( double  degree )

inline

Variable Documentation

BLOCK_AZIMUTH_SIZE

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

BLOCK_SIZE

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

BLOCK_SIZE_L64

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

Initial value:

=
    (HS_LIDAR_L64_UNIT_SIZE * LASER_COUNT_L64 + BLOCK_AZIMUTH_SIZE)

BLOCKS_PER_PACKET

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

BLOCKS_PER_PACKET_L64

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

ECHO_SIZE

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

ENGINE_VELOCITY_SIZE

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

ETHERNET_MTU

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

FACTORY_INFO_SIZE

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

GPS_ITEM_NUM

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

GPS_PACKET_DAY_SIZE

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

GPS_PACKET_FLAG_SIZE

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

GPS_PACKET_HOUR_SIZE

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

GPS_PACKET_MINUTE_SIZE

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

GPS_PACKET_MONTH_SIZE

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

GPS_PACKET_SECOND_SIZE

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

GPS_PACKET_SIZE

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

GPS_PACKET_YEAR_SIZE

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

HEAD_SIZE

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

HESAI40_MAX_PACKETS

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

HESAI40_MIN_PACKETS

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

HESAI40_ONE_PACKET_POINTS

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

HESAI64_MAX_PACKETS

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

HESAI64_MIN_PACKETS

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

HESAI64_ONE_PACKET_POINTS

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

HS_LIDAR_L64_UNIT_SIZE

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

INFO_SIZE

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

Initial value:

= (TIMESTAMP_SIZE + FACTORY_INFO_SIZE + ECHO_SIZE +
                       RESERVE_SIZE + REVOLUTION_SIZE)

LASER_COUNT

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

LASER_COUNT_L64

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

LASER_RETURN_TO_DISTANCE_RATE

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

PACKET_SIZE

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

PACKET_SIZE_L64

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

Initial value:

=
    HEAD_SIZE + BLOCK_SIZE_L64 * BLOCKS_PER_PACKET_L64 + INFO_SIZE + UTC_TIME

PACKET_SIZE_L64_WITH_UDPSEQ

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

PACKET_SIZE_WITH_UDPSEQ

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

PI

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

RAW_MEASURE_SIZE

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

RESERVE_SIZE

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

REVOLUTION_SIZE

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

SOB_ANGLE_SIZE

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

TIMESTAMP_SIZE

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

UDP_SEQUENCE_SIZE

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

UTC_TIME

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