Apollo 10.0
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apollo::drivers::lidar::SeyondDriver类 参考

#include <seyond_driver.h>

apollo::drivers::lidar::SeyondDriver 的协作图:

Public 成员函数

 SeyondDriver ()
 
 ~SeyondDriver ()
 
void register_publish_packet_callback (const std::function< void(const InnoDataPacket *, bool)> &callback)
 
void register_publish_point_callback (const std::function< void(std::shared_ptr< PointCloud >)> &cloud_callback, const std::function< std::shared_ptr< PointCloud >()> &allocate_callback)
 
void register_log_callback (const std::function< void(int32_t, const char *, const char *)> &log_callback)
 
bool setup_lidar ()
 
bool init (SeyondParam &param)
 
bool start ()
 
bool pause ()
 
bool stop ()
 
int32_t data_callback_ (const InnoDataPacket *pkt)
 
void message_callback_ (uint32_t from_remote, enum InnoMessageLevel level, enum InnoMessageCode code, const char *msg)
 
int32_t status_callback_ (const InnoStatusPacket *pkt)
 
void set_log_and_message_level ()
 
int32_t process_scan_packet_ (const std::shared_ptr< seyond::SeyondScan > &lidar_packets)
 
void convert_and_parse_ (const InnoDataPacket *pkt)
 
int32_t process_data_packet_ (const InnoDataPacket *pkt)
 
template<typename PointType >
void process_xyz_point_data_ (bool is_en_data, bool is_use_refl, uint32_t point_num, PointType point_ptr)
 

静态 Public 成员函数

static int32_t data_callback_s_ (int32_t handle_, void *ctx, const InnoDataPacket *pkt)
 
static void message_callback_s_ (int32_t handle_, void *ctx, uint32_t from_remote, enum InnoMessageLevel level, enum InnoMessageCode code, const char *error_message)
 
static int32_t status_callback_s_ (int32_t handle_, void *ctx, const InnoStatusPacket *pkt)
 
static void log_callback_s_ (void *ctx, enum InnoLogLevel level, const char *header1, const char *header2, const char *msg)
 

Public 属性

bool anglehv_table_init_ {false}
 
std::vector< char > anglehv_table_
 

详细描述

在文件 seyond_driver.h70 行定义.

构造及析构函数说明

◆ SeyondDriver()

apollo::drivers::lidar::SeyondDriver::SeyondDriver ( )

◆ ~SeyondDriver()

apollo::drivers::lidar::SeyondDriver::~SeyondDriver ( )

成员函数说明

◆ convert_and_parse_()

void apollo::drivers::lidar::SeyondDriver::convert_and_parse_ ( const InnoDataPacket *  pkt)

◆ data_callback_()

int32_t apollo::drivers::lidar::SeyondDriver::data_callback_ ( const InnoDataPacket *  pkt)

◆ data_callback_s_()

static int32_t apollo::drivers::lidar::SeyondDriver::data_callback_s_ ( int32_t  handle_,
void *  ctx,
const InnoDataPacket *  pkt 
)
inlinestatic

在文件 seyond_driver.h75 行定义.

76 {
77 return (reinterpret_cast<SeyondDriver *>(ctx))->data_callback_(pkt);
78 }

◆ init()

bool apollo::drivers::lidar::SeyondDriver::init ( SeyondParam param)

◆ log_callback_s_()

static void apollo::drivers::lidar::SeyondDriver::log_callback_s_ ( void *  ctx,
enum InnoLogLevel  level,
const char *  header1,
const char *  header2,
const char *  msg 
)
inlinestatic

在文件 seyond_driver.h94 行定义.

96 {
97 SeyondDriver::log_cb_s_(static_cast<int32_t>(level), header1, msg);
98 }

◆ message_callback_()

void apollo::drivers::lidar::SeyondDriver::message_callback_ ( uint32_t  from_remote,
enum InnoMessageLevel  level,
enum InnoMessageCode  code,
const char *  msg 
)

◆ message_callback_s_()

static void apollo::drivers::lidar::SeyondDriver::message_callback_s_ ( int32_t  handle_,
void *  ctx,
uint32_t  from_remote,
enum InnoMessageLevel  level,
enum InnoMessageCode  code,
const char *  error_message 
)
inlinestatic

在文件 seyond_driver.h80 行定义.

84 {
85 (reinterpret_cast<SeyondDriver *>(ctx))
86 ->message_callback_(from_remote, level, code, error_message);
87 }

◆ pause()

bool apollo::drivers::lidar::SeyondDriver::pause ( )

◆ process_data_packet_()

int32_t apollo::drivers::lidar::SeyondDriver::process_data_packet_ ( const InnoDataPacket *  pkt)

◆ process_scan_packet_()

int32_t apollo::drivers::lidar::SeyondDriver::process_scan_packet_ ( const std::shared_ptr< seyond::SeyondScan > &  lidar_packets)

◆ process_xyz_point_data_()

template<typename PointType >
void apollo::drivers::lidar::SeyondDriver::process_xyz_point_data_ ( bool  is_en_data,
bool  is_use_refl,
uint32_t  point_num,
PointType  point_ptr 
)

◆ register_log_callback()

void apollo::drivers::lidar::SeyondDriver::register_log_callback ( const std::function< void(int32_t, const char *, const char *)> &  log_callback)
inline

在文件 seyond_driver.h113 行定义.

115 {
116 log_cb_s_ = log_callback;
117 }

◆ register_publish_packet_callback()

void apollo::drivers::lidar::SeyondDriver::register_publish_packet_callback ( const std::function< void(const InnoDataPacket *, bool)> &  callback)
inline

在文件 seyond_driver.h101 行定义.

103 {
104 packet_publish_cb_ = callback;
105 }

◆ register_publish_point_callback()

void apollo::drivers::lidar::SeyondDriver::register_publish_point_callback ( const std::function< void(std::shared_ptr< PointCloud >)> &  cloud_callback,
const std::function< std::shared_ptr< PointCloud >()> &  allocate_callback 
)
inline

在文件 seyond_driver.h106 行定义.

108 {
109 cloud_publish_cb_ = cloud_callback;
110 allocate_cloud_cb_ = allocate_callback;
111 point_cloud_ptr_ = allocate_cloud_cb_();
112 }

◆ set_log_and_message_level()

void apollo::drivers::lidar::SeyondDriver::set_log_and_message_level ( )

◆ setup_lidar()

bool apollo::drivers::lidar::SeyondDriver::setup_lidar ( )

◆ start()

bool apollo::drivers::lidar::SeyondDriver::start ( )

◆ status_callback_()

int32_t apollo::drivers::lidar::SeyondDriver::status_callback_ ( const InnoStatusPacket *  pkt)

◆ status_callback_s_()

static int32_t apollo::drivers::lidar::SeyondDriver::status_callback_s_ ( int32_t  handle_,
void *  ctx,
const InnoStatusPacket *  pkt 
)
inlinestatic

在文件 seyond_driver.h89 行定义.

90 {
91 return (reinterpret_cast<SeyondDriver *>(ctx))->status_callback_(pkt);
92 }

◆ stop()

bool apollo::drivers::lidar::SeyondDriver::stop ( )

类成员变量说明

◆ anglehv_table_

std::vector<char> apollo::drivers::lidar::SeyondDriver::anglehv_table_

在文件 seyond_driver.h143 行定义.

◆ anglehv_table_init_

bool apollo::drivers::lidar::SeyondDriver::anglehv_table_init_ {false}

在文件 seyond_driver.h142 行定义.

142{false};

该类的文档由以下文件生成: