apollo::drivers::velodyne Namespace Reference

Classes
class	Calibration
	Calibration class storing entire configuration for the Velodyne. More...
class	Compensator
class	CompensatorComponent
class	Convert
class	Input
	Pure virtual Velodyne input base class. More...
struct	LaserCorrection
	correction values for a single laser More...
struct	NMEATime
class	OnlineCalibration
class	PriSecFusionComponent
struct	RawBlock
	Raw Velodyne data block. More...
union	RawDistance
struct	RawPacket
	Raw Velodyne packet. More...
class	SocketInput
	Live Velodyne input from socket. More...
class	Velodyne128Parser
class	Velodyne16Parser
class	Velodyne32Parser
class	Velodyne64Driver
class	Velodyne64Parser
class	VelodyneConvertComponent
class	VelodyneDriver
class	VelodyneDriverComponent
class	VelodyneDriverFactory
class	VelodyneParser
	Velodyne data conversion class. More...
class	VelodyneParserFactory

Typedefs
typedef std::shared_ptr< NMEATime >	NMEATimePtr

Enumerations
enum	StatusType {   HOURS = 72, MINUTES = 77, SECONDS = 83, DATE = 68,   MONTH = 78, YEAR = 89, GPS_STATUS = 71 }

Functions
template<typename T >
void	dump_msg (const T &msg, const std::string &file_path)
template<class T >
void	load_msg (const std::string &file_path, T *msg)
void	init_sin_cos_rot_table (float *sin_rot_table, float *cos_rot_table, uint16_t rotation, float rotation_resolution)

Variables
constexpr int	BLOCKS_PER_PACKET = 12
constexpr int	BLOCK_SIZE = 100
constexpr double	PACKET_RATE_VLP16 = 754
constexpr double	PACKET_RATE_HDL32E = 1808.0
constexpr double	PACKET_RATE_HDL64E_S2 = 3472.17
constexpr double	PACKET_RATE_HDL64E_S3S = 3472.17
constexpr double	PACKET_RATE_HDL64E_S3D = 5789
constexpr double	PACKET_RATE_VLS128 = 6250.0
constexpr double	PACKET_RATE_VLP32C = 1507.0
const int	ORDER_16 [16] = {0, 2, 4, 6, 8, 10, 12, 14, 1, 3, 5, 7, 9, 11, 13, 15}
	Order array for re-ordering point cloud. Refer to Velodyne official manual. More...
const int	ORDER_HDL32E [32]
const int	ORDER_64 [64]
const float	INNER_TIME_64 [12][32]
const float	INNER_TIME_64E_S3 [12][32]
const float	INNER_TIME_HDL32E [12][32]
const float	INNER_TIME_16 [12][32]
const float	INNER_TIME_128 [12][32]
const float	INNER_TIME_VLP32C [12][32]
constexpr double	DEGRESS_TO_RADIANS = 3.1415926535897 / 180.0

Typedef Documentation

NMEATimePtr

typedef std::shared_ptr<NMEATime> apollo::drivers::velodyne::NMEATimePtr

Enumeration Type Documentation

StatusType

enum apollo::drivers::velodyne::StatusType

Enumerator
HOURS
MINUTES
SECONDS
DATE
MONTH
YEAR
GPS_STATUS

Function Documentation

dump_msg()

template<typename T >

void apollo::drivers::velodyne::dump_msg	(	const T &	msg,
		const std::string &	file_path
	)

init_sin_cos_rot_table()

void apollo::drivers::velodyne::init_sin_cos_rot_table	(	float *	sin_rot_table,
		float *	cos_rot_table,
		uint16_t	rotation,
		float	rotation_resolution
	)

load_msg()

template<class T >

void apollo::drivers::velodyne::load_msg	(	const std::string &	file_path,
		T *	msg
	)

Variable Documentation

BLOCK_SIZE

static const int apollo::drivers::velodyne::BLOCK_SIZE = 100

Raw Velodyne packet constants and structures.

BLOCKS_PER_PACKET

static const int apollo::drivers::velodyne::BLOCKS_PER_PACKET = 12

DEGRESS_TO_RADIANS

constexpr double apollo::drivers::velodyne::DEGRESS_TO_RADIANS = 3.1415926535897 / 180.0

INNER_TIME_128

const float apollo::drivers::velodyne::INNER_TIME_128[12][32]

INNER_TIME_16

const float apollo::drivers::velodyne::INNER_TIME_16[12][32]

INNER_TIME_64

const float apollo::drivers::velodyne::INNER_TIME_64[12][32]

INNER_TIME_64E_S3

const float apollo::drivers::velodyne::INNER_TIME_64E_S3[12][32]

INNER_TIME_HDL32E

const float apollo::drivers::velodyne::INNER_TIME_HDL32E[12][32]

INNER_TIME_VLP32C

const float apollo::drivers::velodyne::INNER_TIME_VLP32C[12][32]

ORDER_16

const int apollo::drivers::velodyne::ORDER_16[16] = {0, 2, 4, 6, 8, 10, 12, 14, 1, 3, 5, 7, 9, 11, 13, 15}

Order array for re-ordering point cloud. Refer to Velodyne official manual.

ORDER_64

const int apollo::drivers::velodyne::ORDER_64[64]

Initial value:

= {38, 39, 42, 43, 32, 33, 36, 37, 40, 41, 46, 47, 50,
                          51, 54, 55, 44, 45, 48, 49, 52, 53, 58, 59, 62, 63,
                          34, 35, 56, 57, 60, 61, 6,  7,  10, 11, 0,  1,  4,
                          5,  8,  9,  14, 15, 18, 19, 22, 23, 12, 13, 16, 17,
                          20, 21, 26, 27, 30, 31, 2,  3,  24, 25, 28, 29}

ORDER_HDL32E

const int apollo::drivers::velodyne::ORDER_HDL32E[32]

Initial value:

= {0,  2,  4,  6,  8,  10, 12, 14, 16, 18, 20,
                              22, 24, 26, 28, 30, 1,  3,  5,  7,  9,  11,
                              13, 15, 17, 19, 21, 23, 25, 27, 29, 31}

PACKET_RATE_HDL32E

constexpr double apollo::drivers::velodyne::PACKET_RATE_HDL32E = 1808.0

PACKET_RATE_HDL64E_S2

constexpr double apollo::drivers::velodyne::PACKET_RATE_HDL64E_S2 = 3472.17

PACKET_RATE_HDL64E_S3D

constexpr double apollo::drivers::velodyne::PACKET_RATE_HDL64E_S3D = 5789

PACKET_RATE_HDL64E_S3S

constexpr double apollo::drivers::velodyne::PACKET_RATE_HDL64E_S3S = 3472.17

PACKET_RATE_VLP16

constexpr double apollo::drivers::velodyne::PACKET_RATE_VLP16 = 754

PACKET_RATE_VLP32C

constexpr double apollo::drivers::velodyne::PACKET_RATE_VLP32C = 1507.0

PACKET_RATE_VLS128

constexpr double apollo::drivers::velodyne::PACKET_RATE_VLS128 = 6250.0