#include <livox_component.h>

类 apollo::drivers::lidar::LivoxLidarComponent 继承关系图:

apollo::drivers::lidar::LivoxLidarComponent 的协作图:

Public 成员函数
void	BinaryDataProcess (const unsigned char *data, const int &data_type, const int &point_size, const uint64_t &pkt_timestamp, const uint32_t &time_interval)

void	PointCloudCallback (uint32_t handle, const uint8_t dev_type, LivoxLidarEthernetPacket data, void client_data)

size_t	GetEthPacketByteSize (LivoxLidarEthernetPacket *data)

void	PreparePointsMsg (PointCloud &msg)

bool	Init () override

void	ReadScanCallback (const std::shared_ptr< livox::LivoxScan > &scan_message) override

void	CheckTimestampAndPublishPointCloud ()

Public 成员函数继承自 apollo::drivers::lidar::LidarComponentBase< livox::LivoxScan >
virtual	~LidarComponentBase ()=default

bool	InitBase (const LidarConfigBase &lidar_config_base) override

bool	WriteScan (const std::shared_ptr< livox::LivoxScan > &scan_message)

std::shared_ptr< PointCloud >	AllocatePointCloud ()

bool	WritePointCloud (const std::shared_ptr< PointCloud > &point_cloud)

Public 成员函数继承自 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >
virtual	~LidarComponentBaseImpl ()=default

virtual void	ReadScanCallback (const std::shared_ptr< ScanType > &scan_message)=0

std::shared_ptr< ScanType >	AcquireScanMessage ()

Public 成员函数继承自 apollo::cyber::Component< M0, M1, M2, M3 >
	Component ()

	~Component () override

bool	Initialize (const ComponentConfig &config) override
	init the component by protobuf object.

bool	Process (const std::shared_ptr< M0 > &msg0, const std::shared_ptr< M1 > &msg1, const std::shared_ptr< M2 > &msg2, const std::shared_ptr< M3 > &msg3)

Public 成员函数继承自 apollo::cyber::ComponentBase
virtual	~ComponentBase ()

virtual bool	Initialize (const TimerComponentConfig &config)

virtual void	Shutdown ()

template<typename T >
bool	GetProtoConfig (T *config) const

Public 属性
livox::Config	config_

std::deque< PointXYZIT >	integral_queue_

uint64_t	last_pointcloud_pub_timestamp_ {0}

double	pointcloud_freq_ = {10.0}

double	integral_time_ = {0.1}

额外继承的成员函数
Public 类型继承自 apollo::drivers::lidar::LidarComponentBase< livox::LivoxScan >
using	BaseComponent = LidarComponentBaseImpl< livox::LivoxScan >

Public 类型继承自 apollo::cyber::ComponentBase
template<typename M >
using	Reader = cyber::Reader< M >

Protected 成员函数继承自 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >
bool	InitConverter (const LidarConfigBase &lidar_config_base)

bool	InitPacket (const LidarConfigBase &lidar_config_base)

virtual bool	WriteScan (const std::shared_ptr< ScanType > &scan_message)

virtual std::shared_ptr< apollo::cyber::base::ArenaQueue< PointXYZIT > >	GetPointQueue ()

Protected 成员函数继承自 apollo::cyber::ComponentBase
virtual void	Clear ()

const std::string &	ConfigFilePath () const

void	LoadConfigFiles (const ComponentConfig &config)

void	LoadConfigFiles (const TimerComponentConfig &config)

静态 Protected 成员函数继承自 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >
static void	PcdDefaultCleaner (std::shared_ptr< PointCloud > &unused_pcd_frame)

Protected 属性继承自 apollo::drivers::lidar::LidarComponentBaseImpl< ScanType, ComponentType >
std::string	frame_id_

Protected 属性继承自 apollo::cyber::ComponentBase
std::atomic< bool >	is_shutdown_ = {false}

std::shared_ptr< Node >	node_ = nullptr

std::string	config_file_path_ = ""

std::vector< std::shared_ptr< ReaderBase > >	readers_

详细描述

在文件 livox_component.h 第 37 行定义.

成员函数说明

◆ BinaryDataProcess()

void apollo::drivers::lidar::LivoxLidarComponent::BinaryDataProcess	(	const unsigned char *	data,
		const int &	data_type,
		const int &	point_size,
		const uint64_t &	pkt_timestamp,
		const uint32_t &	time_interval
	)

◆ CheckTimestampAndPublishPointCloud()

void apollo::drivers::lidar::LivoxLidarComponent::CheckTimestampAndPublishPointCloud ( )

◆ GetEthPacketByteSize()

size_t apollo::drivers::lidar::LivoxLidarComponent::GetEthPacketByteSize ( LivoxLidarEthernetPacket * data )

◆ Init()

bool apollo::drivers::lidar::LivoxLidarComponent::Init ( )

overridevirtual

实现了 apollo::drivers::lidar::LidarComponentBase< livox::LivoxScan >.

◆ PointCloudCallback()

void apollo::drivers::lidar::LivoxLidarComponent::PointCloudCallback	(	uint32_t	handle,
		const uint8_t	dev_type,
		LivoxLidarEthernetPacket *	data,
		void *	client_data
	)

◆ PreparePointsMsg()

void apollo::drivers::lidar::LivoxLidarComponent::PreparePointsMsg ( PointCloud & msg )

◆ ReadScanCallback()

void apollo::drivers::lidar::LivoxLidarComponent::ReadScanCallback ( const std::shared_ptr< livox::LivoxScan > & scan_message )

overridevirtual

实现了 apollo::drivers::lidar::LidarComponentBase< livox::LivoxScan >.

类成员变量说明

◆ config_

livox::Config apollo::drivers::lidar::LivoxLidarComponent::config_

在文件 livox_component.h 第 57 行定义.

◆ integral_queue_

std::deque<PointXYZIT> apollo::drivers::lidar::LivoxLidarComponent::integral_queue_

在文件 livox_component.h 第 58 行定义.

◆ integral_time_

double apollo::drivers::lidar::LivoxLidarComponent::integral_time_ = {0.1}

在文件 livox_component.h 第 62 行定义.

62{0.1}; // second

◆ last_pointcloud_pub_timestamp_

uint64_t apollo::drivers::lidar::LivoxLidarComponent::last_pointcloud_pub_timestamp_ {0}

在文件 livox_component.h 第 60 行定义.

60{0};

◆ pointcloud_freq_

double apollo::drivers::lidar::LivoxLidarComponent::pointcloud_freq_ = {10.0}

在文件 livox_component.h 第 61 行定义.

61{10.0}; // Hz

该类的文档由以下文件生成:

modules/drivers/lidar/livox/component/livox_component.h

Public 成员函数

Public 属性

额外继承的成员函数