Apollo
10.0
自动驾驶开放平台
util.cc
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/******************************************************************************
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* Copyright 2017 The Apollo Authors. All Rights Reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*****************************************************************************/
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#include "
modules/drivers/lidar/velodyne/parser/util.h
"
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namespace
apollo
{
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namespace
drivers {
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namespace
velodyne {
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void
init_sin_cos_rot_table
(
float
* sin_rot_table,
float
* cos_rot_table,
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uint16_t rotation,
float
rotation_resolution) {
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for
(uint16_t i = 0; i < rotation; ++i) {
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// float rotation = angles::from_degrees(rotation_resolution * i);
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float
rotation =
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rotation_resolution *
static_cast<
float
>
(i * M_PI) / 180.0f;
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cos_rot_table[i] = cosf(rotation);
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sin_rot_table[i] = sinf(rotation);
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}
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}
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}
// namespace velodyne
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}
// namespace drivers
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}
// namespace apollo
util.h
apollo::drivers::velodyne::init_sin_cos_rot_table
void init_sin_cos_rot_table(float *sin_rot_table, float *cos_rot_table, uint16_t rotation, float rotation_resolution)
Definition
util.cc:23
apollo
class register implement
Definition
arena_queue.h:37
modules
drivers
lidar
velodyne
parser
util.cc