Apollo 10.0
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apollo::drivers::conti_radar::MotionInputYawRate301类 参考

#include <motion_input_yawrate_301.h>

类 apollo::drivers::conti_radar::MotionInputYawRate301 继承关系图:
apollo::drivers::conti_radar::MotionInputYawRate301 的协作图:

Public 成员函数

 MotionInputYawRate301 ()
 
 ~MotionInputYawRate301 ()
 
uint32_t GetPeriod () const override
 get the data period
 
void UpdateData (uint8_t *data) override
 update the data
 
void Reset () override
 reset the private variables
 
void SetYawRate (const float &yaw_rate)
 
- Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData< ContiRadar >
 ProtocolData ()=default
 construct protocol data.
 
virtual ~ProtocolData ()=default
 destruct protocol data.
 
virtual int32_t GetLength () const
 
virtual void Parse (const uint8_t *bytes, int32_t length, ContiRadar *sensor_data) const
 
virtual void UpdateData_Heartbeat (uint8_t *data)
 

静态 Public 属性

static const uint32_t ID = 0x301
 

额外继承的成员函数

- 静态 Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData< ContiRadar >
static std::uint8_t CalculateCheckSum (const uint8_t *input, const uint32_t length)
 static function, used to calculate the checksum of input array.
 
static T BoundedValue (T lower, T upper, T val)
 

详细描述

在文件 motion_input_yawrate_301.h32 行定义.

构造及析构函数说明

◆ MotionInputYawRate301()

apollo::drivers::conti_radar::MotionInputYawRate301::MotionInputYawRate301 ( )

在文件 motion_input_yawrate_301.cc30 行定义.

30{}

◆ ~MotionInputYawRate301()

apollo::drivers::conti_radar::MotionInputYawRate301::~MotionInputYawRate301 ( )

在文件 motion_input_yawrate_301.cc31 行定义.

31{}

成员函数说明

◆ GetPeriod()

uint32_t apollo::drivers::conti_radar::MotionInputYawRate301::GetPeriod ( ) const
overridevirtual

get the data period

返回
the value of data period

重载 apollo::drivers::canbus::ProtocolData< ContiRadar > .

在文件 motion_input_yawrate_301.cc33 行定义.

33 {
34 static const uint32_t PERIOD = 20 * 1000;
35 return PERIOD;
36}

◆ Reset()

void apollo::drivers::conti_radar::MotionInputYawRate301::Reset ( )
overridevirtual

reset the private variables

重载 apollo::drivers::canbus::ProtocolData< ContiRadar > .

在文件 motion_input_yawrate_301.cc60 行定义.

60{ yaw_rate_ = NAN; }

◆ SetYawRate()

void apollo::drivers::conti_radar::MotionInputYawRate301::SetYawRate ( const float &  yaw_rate)

在文件 motion_input_yawrate_301.cc62 行定义.

62 {
63 yaw_rate_ = yaw_rate;
64}

◆ UpdateData()

void apollo::drivers::conti_radar::MotionInputYawRate301::UpdateData ( uint8_t *  data)
overridevirtual

update the data

参数
dataa pointer to the data to be updated

重载 apollo::drivers::canbus::ProtocolData< ContiRadar > .

在文件 motion_input_yawrate_301.cc42 行定义.

42 {
43 if (std::isnan(yaw_rate_)) {
44 AWARN << "yaw_rate is nan";
45 return;
46 }
47 // Due to radar 408 manual: max 327.68, res 0.01, unit:deg/s
48 uint32_t yaw_rate_value = static_cast<uint32_t>((yaw_rate_ + 327.68) * 100);
49 Byte yaw_rate_low(data);
50 yaw_rate_low.set_value(
51 static_cast<unsigned char>((yaw_rate_value & 0xFF00) >> 8), 0, 8);
52 Byte yaw_rate_high(data + 1);
53 yaw_rate_high.set_value(static_cast<unsigned char>(yaw_rate_value & 0x00FF),
54 0, 8);
55}
#define AWARN
Definition log.h:43

类成员变量说明

◆ ID

const uint32_t apollo::drivers::conti_radar::MotionInputYawRate301::ID = 0x301
static

在文件 motion_input_yawrate_301.h35 行定义.


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