velodyne_parser.h File Reference

#include <cerrno>
#include <cmath>
#include <cstdint>
#include <limits>
#include <memory>
#include <string>
#include <boost/format.hpp>
#include "modules/drivers/lidar/proto/velodyne.pb.h"
#include "modules/drivers/lidar/proto/velodyne_config.pb.h"
#include "modules/drivers/proto/pointcloud.pb.h"
#include "modules/drivers/lidar/velodyne/parser/calibration.h"
#include "modules/drivers/lidar/velodyne/parser/const_variables.h"
#include "modules/drivers/lidar/velodyne/parser/online_calibration.h"

Include dependency graph for velodyne_parser.h:

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Classes
struct	apollo::drivers::velodyne::RawBlock
	Raw Velodyne data block. More...
union	apollo::drivers::velodyne::RawDistance
struct	apollo::drivers::velodyne::RawPacket
	Raw Velodyne packet. More...
class	apollo::drivers::velodyne::VelodyneParser
	Velodyne data conversion class. More...
class	apollo::drivers::velodyne::Velodyne64Parser
class	apollo::drivers::velodyne::Velodyne32Parser
class	apollo::drivers::velodyne::Velodyne16Parser
class	apollo::drivers::velodyne::Velodyne128Parser
class	apollo::drivers::velodyne::VelodyneParserFactory

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

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

Detailed Description

Velodyne HDL-64E 3D LIDAR data accessors

These classes Unpack raw Velodyne LIDAR packets into several useful formats.

velodyne::Data – virtual base class for unpacking data into various formats

velodyne::DataScans – derived class, unpacks into vector of individual laser scans

velodyne::DataXYZ – derived class, unpacks into XYZ format

Todo:

make a separate header for each class?

Author

Yaxin Liu

Patrick Beeson

Jack O'Quin