Apollo 10.0
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apollo::drivers::racobit_radar::ClusterQualityInfo702类 参考

#include <cluster_quality_info_702.h>

类 apollo::drivers::racobit_radar::ClusterQualityInfo702 继承关系图:
apollo::drivers::racobit_radar::ClusterQualityInfo702 的协作图:

Public 成员函数

 ClusterQualityInfo702 ()
 
void Parse (const std::uint8_t *bytes, int32_t length, RacobitRadar *racobit_radar) const override
 
- Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData< RacobitRadar >
 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, RacobitRadar *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 = 0x702
 

额外继承的成员函数

- 静态 Public 成员函数 继承自 apollo::drivers::canbus::ProtocolData< RacobitRadar >
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 cluster_quality_info_702.h28 行定义.

构造及析构函数说明

◆ ClusterQualityInfo702()

apollo::drivers::racobit_radar::ClusterQualityInfo702::ClusterQualityInfo702 ( )

在文件 cluster_quality_info_702.cc31 行定义.

31{}

成员函数说明

◆ Parse()

void apollo::drivers::racobit_radar::ClusterQualityInfo702::Parse ( const std::uint8_t *  bytes,
int32_t  length,
RacobitRadar racobit_radar 
) const
override

在文件 cluster_quality_info_702.cc34 行定义.

35 {
36 int id = target_id(bytes, length);
37 for (int i = 0; i < racobit_radar->contiobs_size(); ++i) {
38 if (racobit_radar->contiobs(i).obstacle_id() == id) {
39 auto racobit_obs = racobit_radar->mutable_contiobs(i);
40 racobit_obs->set_longitude_dist_rms(
41 LINEAR_RMS[longitude_dist_rms(bytes, length)]);
42 racobit_obs->set_lateral_dist_rms(
43 LINEAR_RMS[lateral_dist_rms(bytes, length)]);
44 racobit_obs->set_longitude_vel_rms(
45 LINEAR_RMS[longitude_vel_rms(bytes, length)]);
46 racobit_obs->set_lateral_vel_rms(
47 LINEAR_RMS[lateral_vel_rms(bytes, length)]);
48 racobit_obs->set_probexist(PROBOFEXIST[pdh0(bytes, length)]);
49 switch (invalid_state(bytes, length)) {
50 case 0x01:
51 case 0x02:
52 case 0x03:
53 case 0x06:
54 case 0x07:
55 case 0x0E:
56 racobit_obs->set_probexist(PROBOFEXIST[0]);
57 default:
58 break;
59 }
60 switch (ambig_state(bytes, length)) {
61 case 0x00:
62 case 0x01:
63 case 0x02:
64 racobit_obs->set_probexist(PROBOFEXIST[0]);
65 default:
66 break;
67 }
68 }
69 }
70}
const double LINEAR_RMS[32]
Definition const_vars.h:40

类成员变量说明

◆ ID

const uint32_t apollo::drivers::racobit_radar::ClusterQualityInfo702::ID = 0x702
static

在文件 cluster_quality_info_702.h31 行定义.


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