#include <lslidar_parser.h>

类 apollo::drivers::lslidar::parser::LslidarCH120Parser 继承关系图:

apollo::drivers::lslidar::parser::LslidarCH120Parser 的协作图:

Public 成员函数
	LslidarCH120Parser (const Config &config)

	~LslidarCH120Parser ()

void	GeneratePointcloud (const std::shared_ptr< LslidarScan > &scan_msg, const std::shared_ptr< PointCloud > &out_msg)

void	Order (std::shared_ptr< PointCloud > cloud)

Public 成员函数继承自 apollo::drivers::lslidar::parser::LslidarParser
	LslidarParser ()

	LslidarParser (const Config &config)

virtual	~LslidarParser ()

virtual void	GeneratePointcloud (const std::shared_ptr< LslidarScan > &scan_msg, const std::shared_ptr< apollo::drivers::PointCloud > &out_msg)=0
	Set up for data processing.

virtual void	setup ()
	Set up for on-line operation.

virtual void	Order (std::shared_ptr< apollo::drivers::PointCloud > cloud)=0

const double	get_last_timestamp ()

额外继承的成员函数
Protected 成员函数继承自 apollo::drivers::lslidar::parser::LslidarParser
bool	is_scan_valid (int rotation, float distance)

void	ComputeCoords (const float &raw_distance, LaserCorrection corrections, const uint16_t rotation, PointXYZIT point)

void	ComputeCoords2 (int Laser_ring, int Type, const float &raw_distance, LaserCorrection corrections, const double rotation, PointXYZIT point)

Protected 属性继承自 apollo::drivers::lslidar::parser::LslidarParser
double	scan_altitude [16]

float	sin_azimuth_table [ROTATION_MAX_UNITS]

float	cos_azimuth_table [ROTATION_MAX_UNITS]

double	cos_scan_altitude_caliration [LSC32_SCANS_PER_FIRING]

double	sin_scan_altitude_caliration [LSC32_SCANS_PER_FIRING]

double	last_time_stamp_

double	theat1_s [128]

double	theat2_s [128]

double	theat1_c [128]

double	theat2_c [128]

double	prism_angle [4]

double	prism_angle64 [4]

Config	config_

Calibration	calibration_

bool	need_two_pt_correction_

bool	config_vert_angle

uint64_t	current_packet_time = 0

uint64_t	previous_packet_time = 0

详细描述

在文件 lslidar_parser.h 第 805 行定义.

构造及析构函数说明

◆ LslidarCH120Parser()

apollo::drivers::lslidar::parser::LslidarCH120Parser::LslidarCH120Parser ( const Config & config )

explicit

在文件 lslidarCH120_parser.cc 第 24 行定义.

                                                           :
        LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {
    last_packet_time = 0;
}

◆ ~LslidarCH120Parser()

apollo::drivers::lslidar::parser::LslidarCH120Parser::~LslidarCH120Parser ( )

inline

在文件 lslidar_parser.h 第 808 行定义.

808{}

成员函数说明

◆ GeneratePointcloud()

void apollo::drivers::lslidar::parser::LslidarCH120Parser::GeneratePointcloud	(	const std::shared_ptr< LslidarScan > &	scan_msg,
		const std::shared_ptr< PointCloud > &	out_msg
	)

在文件 lslidarCH120_parser.cc 第 29 行定义.

                                                  {
    // allocate a point cloud with same time and frame ID as raw data
    out_msg->mutable_header()->set_timestamp_sec(
            scan_msg->basetime() / 1000000000.0);
    out_msg->mutable_header()->set_module_name(
            scan_msg->header().module_name());
    out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());
    out_msg->set_height(1);
    out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);
    out_msg->mutable_header()->set_sequence_num(
            scan_msg->header().sequence_num());
    gps_base_usec_ = scan_msg->basetime();
 
    packets_size = scan_msg->firing_pkts_size();
 
    for (size_t i = 0; i < packets_size; ++i) {
        Unpack(static_cast<int>(i),
               scan_msg->firing_pkts(static_cast<int>(i)),
               out_msg);
        last_time_stamp_ = out_msg->measurement_time();
        ADEBUG << "stamp: " << std::fixed << last_time_stamp_;
    }
 
    if (out_msg->point().empty()) {
        // we discard this pointcloud if empty
        AERROR << "All points is NAN!Please check lslidar:" << config_.model();
    }
    // set default width
    out_msg->set_width(out_msg->point_size());
}

◆ Order()

void apollo::drivers::lslidar::parser::LslidarCH120Parser::Order ( std::shared_ptr< PointCloud > cloud )

在文件 lslidarCH120_parser.cc 第 158 行定义.

158{}

该类的文档由以下文件生成:

modules/drivers/lidar/lslidar/parser/lslidar_parser.h
modules/drivers/lidar/lslidar/parser/lslidarCH120_parser.cc

Public 成员函数