Apollo 10.0
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apollo::drivers::nano_radar::ObjectGeneralInfo60B类 参考

#include <object_general_info_60b.h>

类 apollo::drivers::nano_radar::ObjectGeneralInfo60B 继承关系图:
apollo::drivers::nano_radar::ObjectGeneralInfo60B 的协作图:

Public 成员函数

 ObjectGeneralInfo60B ()
 
void Parse (const std::uint8_t *bytes, int32_t length, NanoRadar *nano_radar) const override
 
- Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData< NanoRadar >
 ProtocolData ()=default
 construct protocol data.
 
virtual ~ProtocolData ()=default
 destruct protocol data.
 
virtual uint32_t GetPeriod () const
 
virtual int32_t GetLength () const
 
virtual void Parse (const uint8_t *bytes, int32_t length, NanoRadar *sensor_data) const
 
virtual void UpdateData (uint8_t *data)
 
virtual void UpdateData_Heartbeat (uint8_t *data)
 
virtual void Reset ()
 

静态 Public 属性

static const uint32_t ID = 0x60B
 

额外继承的成员函数

- 静态 Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData< NanoRadar >
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 object_general_info_60b.h29 行定义.

构造及析构函数说明

◆ ObjectGeneralInfo60B()

apollo::drivers::nano_radar::ObjectGeneralInfo60B::ObjectGeneralInfo60B ( )

在文件 object_general_info_60b.cc32 行定义.

32{}

成员函数说明

◆ Parse()

void apollo::drivers::nano_radar::ObjectGeneralInfo60B::Parse ( const std::uint8_t *  bytes,
int32_t  length,
NanoRadar nano_radar 
) const
override

在文件 object_general_info_60b.cc35 行定义.

36 {
37 int obj_id = object_id(bytes, length);
38 auto conti_obs = nano_radar->add_contiobs();
39 conti_obs->set_clusterortrack(false);
40 conti_obs->set_obstacle_id(obj_id);
41 conti_obs->set_longitude_dist(longitude_dist(bytes, length));
42 conti_obs->set_lateral_dist(lateral_dist(bytes, length));
43 conti_obs->set_longitude_vel(longitude_vel(bytes, length));
44 conti_obs->set_lateral_vel(lateral_vel(bytes, length));
45 conti_obs->set_rcs(rcs(bytes, length));
46 conti_obs->set_dynprop(dynprop(bytes, length));
47 // double long_dist = longitude_dist(bytes, length);
48 // double lat_dist = lateral_dist(bytes, length);
49 double obs_range = obstacle_range(longitude_dist(bytes, length),
50 lateral_dist(bytes, length));
51 double obs_angle = obstacle_angle(longitude_dist(bytes, length),
52 lateral_dist(bytes, length));
53 double obs_vel = obstacle_velocity(longitude_vel(bytes, length),
54 lateral_vel(bytes, length), obs_angle);
55 // conti_obs->set_obstacle_range(obstacle_range(longitude_dist(bytes,
56 // length),lateral_dist(bytes, length))); double obs_angle =
57 // obstacle_angle(longitude_dist(),lateral_dist()); double long_vel =
58 // longitude_vel(bytes, length); double lat_vel = lateral_vel(bytes, length);
59 // double obs_vel = obstacle_velocity(longitude_dist(),lat_dist,obs_angle);
60 conti_obs->set_obstacle_range(obs_range);
61 conti_obs->set_obstacle_vel(obs_vel);
62 conti_obs->set_obstacle_angle(obs_angle);
64 auto header = conti_obs->mutable_header();
65 header->CopyFrom(nano_radar->header());
66 header->set_timestamp_sec(timestamp);
67}
static Time Now()
get the current time.
Definition time.cc:57
double ToSecond() const
convert time to second.
Definition time.cc:77

类成员变量说明

◆ ID

const uint32_t apollo::drivers::nano_radar::ObjectGeneralInfo60B::ID = 0x60B
static

在文件 object_general_info_60b.h32 行定义.


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