apollo::drivers::racobit_radar::ObjectGeneralInfo60B类 参考

#include <object_general_info_60b.h>

类 apollo::drivers::racobit_radar::ObjectGeneralInfo60B 继承关系图:

apollo::drivers::racobit_radar::ObjectGeneralInfo60B 的协作图:

Public 成员函数
	ObjectGeneralInfo60B ()
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 = 0x60B

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 object_general_info_60b.h 第 28 行定义.

构造及析构函数说明

ObjectGeneralInfo60B()

apollo::drivers::racobit_radar::ObjectGeneralInfo60B::ObjectGeneralInfo60B

(

)

在文件 object_general_info_60b.cc 第 32 行定义.

{}

成员函数说明

Parse()

void apollo::drivers::racobit_radar::ObjectGeneralInfo60B::Parse ( const std::uint8_t *  bytes, int32_t  length, RacobitRadar *  racobit_radar  ) const

override

在文件 object_general_info_60b.cc 第 35 行定义.

                                                                    {
  int obj_id = object_id(bytes, length);
  auto racobit_obs = racobit_radar->add_contiobs();
  racobit_obs->set_clusterortrack(false);
  racobit_obs->set_obstacle_id(obj_id);
  racobit_obs->set_longitude_dist(longitude_dist(bytes, length));
  racobit_obs->set_lateral_dist(lateral_dist(bytes, length));
  racobit_obs->set_longitude_vel(longitude_vel(bytes, length));
  racobit_obs->set_lateral_vel(lateral_vel(bytes, length));
  racobit_obs->set_rcs(rcs(bytes, length));
  racobit_obs->set_dynprop(dynprop(bytes, length));
  double timestamp = apollo::cyber::Time::Now().ToSecond();
  auto header = racobit_obs->mutable_header();
  header->CopyFrom(racobit_radar->header());
  header->set_timestamp_sec(timestamp);
}

类成员变量说明

ID

const uint32_t apollo::drivers::racobit_radar::ObjectGeneralInfo60B::ID = 0x60B

static

在文件 object_general_info_60b.h 第 31 行定义.

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该类的文档由以下文件生成:

• modules/drivers/radar/racobit_radar/protocol/object_general_info_60b.h
• modules/drivers/radar/racobit_radar/protocol/object_general_info_60b.cc