Apollo 10.0
自动驾驶开放平台
apollo::drivers::racobit_radar::ObjectQualityInfo60C类 参考

#include <object_quality_info_60c.h>

类 apollo::drivers::racobit_radar::ObjectQualityInfo60C 继承关系图:
apollo::drivers::racobit_radar::ObjectQualityInfo60C 的协作图:

Public 成员函数

 ObjectQualityInfo60C ()
 
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 = 0x60C
 

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_quality_info_60c.h28 行定义.

构造及析构函数说明

◆ ObjectQualityInfo60C()

apollo::drivers::racobit_radar::ObjectQualityInfo60C::ObjectQualityInfo60C ( )

在文件 object_quality_info_60c.cc31 行定义.

31{}

成员函数说明

◆ Parse()

void apollo::drivers::racobit_radar::ObjectQualityInfo60C::Parse ( const std::uint8_t *  bytes,
int32_t  length,
RacobitRadar racobit_radar 
) const
override

在文件 object_quality_info_60c.cc34 行定义.

35 {
36 int obj_id = object_id(bytes, length);
37
38 for (int i = 0; i < racobit_radar->contiobs_size(); ++i) {
39 if (racobit_radar->contiobs(i).obstacle_id() == obj_id) {
40 auto obs = racobit_radar->mutable_contiobs(i);
41 obs->set_longitude_dist_rms(
42 LINEAR_RMS[longitude_dist_rms(bytes, length)]);
43 obs->set_lateral_dist_rms(LINEAR_RMS[lateral_dist_rms(bytes, length)]);
44 obs->set_longitude_vel_rms(LINEAR_RMS[longitude_vel_rms(bytes, length)]);
45 obs->set_lateral_vel_rms(LINEAR_RMS[lateral_vel_rms(bytes, length)]);
46 obs->set_longitude_accel_rms(
47 LINEAR_RMS[longitude_accel_rms(bytes, length)]);
48 obs->set_lateral_accel_rms(LINEAR_RMS[lateral_accel_rms(bytes, length)]);
49 obs->set_oritation_angle_rms(
50 ANGLE_RMS[oritation_angle_rms(bytes, length)]);
51 obs->set_probexist(PROBOFEXIST[probexist(bytes, length)]);
52 obs->set_meas_state(meas_state(bytes, length));
53 break;
54 }
55 }
56}
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::ObjectQualityInfo60C::ID = 0x60C
static

在文件 object_quality_info_60c.h31 行定义.


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