ProtocolAsensing类 参考

#include <protocol_asensing.h>

类 ProtocolAsensing 继承关系图:

ProtocolAsensing 的协作图:

Public 成员函数
	ProtocolAsensing ()
virtual	~ProtocolAsensing ()
virtual void	subData (const uint8_t *sub_address, int &index)
void	addData (const std::string &data)
void	clearCache ()
bool	registProtocol (const std::string &protocolFlag, int length, ProtocolAsensing *sub)
void	toQuaternion (double *rpy, double *quaterArray)
int	getLength (const std::string &flag)
uint32_t	getDataSize ()
void	changeLength (const std::string &flag, int len)
std::string	getProtocol ()

详细描述

在文件 protocol_asensing.h 第 83 行定义.

构造及析构函数说明

ProtocolAsensing()

ProtocolAsensing::ProtocolAsensing

(

)

在文件 protocol_asensing.cc 第 68 行定义.

{}

~ProtocolAsensing()

ProtocolAsensing::~ProtocolAsensing ( )

virtual

在文件 protocol_asensing.cc 第 70 行定义.

{}

成员函数说明

addData()

void ProtocolAsensing::addData

(

const std::string &

data

)

在文件 protocol_asensing.cc 第 72 行定义.

{ analysisData(data); }

changeLength()

void ProtocolAsensing::changeLength ( const std::string &  flag, int  len  )

inline

在文件 protocol_asensing.h 第 104 行定义.

                                                           {
    protocolLengthMap[flag] = len;
  }

clearCache()

void ProtocolAsensing::clearCache

(

)

在文件 protocol_asensing.cc 第 74 行定义.

                                  {
  receive_data_.erase(receive_data_.begin(), receive_data_.end());
}

getDataSize()

uint32_t ProtocolAsensing::getDataSize ( )

inline

在文件 protocol_asensing.h 第 103 行定义.

{ return receive_data_.size(); }

getLength()

int ProtocolAsensing::getLength ( const std::string &  flag )

inline

在文件 protocol_asensing.h 第 100 行定义.

                                              {
    return protocolLengthMap[flag];
  }

getProtocol()

std::string ProtocolAsensing::getProtocol ( )

inline

在文件 protocol_asensing.h 第 108 行定义.

{ return cur_protocol_; }

registProtocol()

bool ProtocolAsensing::registProtocol	(	const std::string &	protocolFlag,
		int	length,
		ProtocolAsensing *	sub
	)

在文件 protocol_asensing.cc 第 146 行定义.

                                                                         {
  protocolLengthMap.insert(std::pair<std::string, int>(protocolFlag, length));
  protocolMap.insert(
      std::pair<std::string, ProtocolAsensing*>(protocolFlag, sub));
  // TinyLog::info("regist protocol:%s length: %d\n" , protocolFlag.c_str() ,
  // length);
  return true;
}

subData()

virtual void ProtocolAsensing::subData ( const uint8_t *  sub_address, int &  index  )

inlinevirtual

被 Decode_0A , 以及 Decode_0B 重载.

在文件 protocol_asensing.h 第 89 行定义.

                                                               {
    printf("get protocol type:%02X %02X %02X \n", sub_address[index],
           sub_address[index + 1], sub_address[index + 2]);
  }

toQuaternion()

void ProtocolAsensing::toQuaternion	(	double *	rpy,
		double *	quaterArray
	)

在文件 protocol_asensing.cc 第 155 行定义.

                                                                    {
  double halfYaw = rpy[2] * 0.5;
  double halfPitch = rpy[1] * 0.5;
  double halfRoll = rpy[0] * 0.5;
  double cosYaw = std::cos(halfYaw);
  double sinYaw = std::sin(halfYaw);
  double cosPitch = std::cos(halfPitch);
  double sinPitch = std::sin(halfPitch);
  double cosRoll = std::cos(halfRoll);
  double sinRoll = std::sin(halfRoll);
 
  quaterArray[0] = sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw;
  quaterArray[1] = cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw;
  quaterArray[2] = cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw;
  quaterArray[3] = cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw;
}

---

该类的文档由以下文件生成:

• modules/drivers/gnss/parser/asensing_parser/protocol_asensing.h
• modules/drivers/gnss/parser/asensing_parser/protocol_asensing.cc