apollo::drivers::lslidar::parser::LslidarCH128X1Parser类 参考

#include <lslidar_parser.h>

类 apollo::drivers::lslidar::parser::LslidarCH128X1Parser 继承关系图:

apollo::drivers::lslidar::parser::LslidarCH128X1Parser 的协作图:

Public 成员函数
	LslidarCH128X1Parser (const Config &config)
	~LslidarCH128X1Parser ()
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 861 行定义.

构造及析构函数说明

LslidarCH128X1Parser()

apollo::drivers::lslidar::parser::LslidarCH128X1Parser::LslidarCH128X1Parser ( const Config &  config )

explicit

在文件 lslidarCH128X1_parser.cc 第 24 行定义.

                                                               :
        LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {}

~LslidarCH128X1Parser()

apollo::drivers::lslidar::parser::LslidarCH128X1Parser::~LslidarCH128X1Parser ( )

inline

在文件 lslidar_parser.h 第 864 行定义.

{}

成员函数说明

GeneratePointcloud()

void apollo::drivers::lslidar::parser::LslidarCH128X1Parser::GeneratePointcloud	(	const std::shared_ptr< LslidarScan > &	scan_msg,
		const std::shared_ptr< PointCloud > &	out_msg
	)

在文件 lslidarCH128X1_parser.cc 第 27 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();
 
    const unsigned char* difop_ptr
            = (const unsigned char*)scan_msg->difop_pkts(0).data().c_str();
 
    two_bytes angle_1, angle_2, angle_3, angle_4;
    angle_1.bytes[0] = difop_ptr[243];
    angle_1.bytes[1] = difop_ptr[242];
    prism_angle[0] = angle_1.uint * 0.01;
 
    angle_2.bytes[0] = difop_ptr[245];
    angle_2.bytes[1] = difop_ptr[244];
    prism_angle[1] = angle_2.uint * 0.01;
 
    angle_3.bytes[0] = difop_ptr[247];
    angle_3.bytes[1] = difop_ptr[246];
    prism_angle[2] = angle_3.uint * 0.01;
 
    angle_4.bytes[0] = difop_ptr[249];
    angle_4.bytes[1] = difop_ptr[248];
    prism_angle[3] = angle_4.uint * 0.01;
 
    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_;
    }
 
    AINFO << "packets_size :" << packets_size;
    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::LslidarCH128X1Parser::Order

(

std::shared_ptr< PointCloud >

cloud

)

在文件 lslidarCH128X1_parser.cc 第 212 行定义.

{}

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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/lslidarCH128X1_parser.cc