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.h 第 32 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.cc 第 30 行定义.

{}

~MotionInputYawRate301()

apollo::drivers::conti_radar::MotionInputYawRate301::~MotionInputYawRate301

(

)

在文件 motion_input_yawrate_301.cc 第 31 行定义.

{}

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.cc 第 33 行定义.

                                                {
  static const uint32_t PERIOD = 20 * 1000;
  return PERIOD;
}

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.cc 第 60 行定义.

{ yaw_rate_ = NAN; }

SetYawRate()

void apollo::drivers::conti_radar::MotionInputYawRate301::SetYawRate

(

const float &

yaw_rate

)

在文件 motion_input_yawrate_301.cc 第 62 行定义.

                                                            {
  yaw_rate_ = yaw_rate;
}

UpdateData()

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

overridevirtual

update the data

参数

data	a pointer to the data to be updated

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

在文件 motion_input_yawrate_301.cc 第 42 行定义.

                                                    {
  if (std::isnan(yaw_rate_)) {
    AWARN << "yaw_rate is nan";
    return;
  }
  // Due to radar 408 manual: max 327.68, res 0.01, unit:deg/s
  uint32_t yaw_rate_value = static_cast<uint32_t>((yaw_rate_ + 327.68) * 100);
  Byte yaw_rate_low(data);
  yaw_rate_low.set_value(
      static_cast<unsigned char>((yaw_rate_value & 0xFF00) >> 8), 0, 8);
  Byte yaw_rate_high(data + 1);
  yaw_rate_high.set_value(static_cast<unsigned char>(yaw_rate_value & 0x00FF),
                          0, 8);
}

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.h 第 35 行定义.

---

该类的文档由以下文件生成:

• modules/drivers/radar/conti_radar/protocol/motion_input_yawrate_301.h
• modules/drivers/radar/conti_radar/protocol/motion_input_yawrate_301.cc