Apollo 10.0
自动驾驶开放平台
gyro_6c.h
浏览该文件的文档.
1/******************************************************************************
2 * Copyright 2017 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
22#pragma once
23
24#include "modules/canbus_vehicle/lincoln/proto/lincoln.pb.h"
26
31namespace apollo {
32namespace canbus {
33namespace lincoln {
34
41 ::apollo::canbus::Lincoln> {
42 public:
43 static const int32_t ID;
44
45 /*
46 * @brief parse received data
47 * @param bytes a pointer to the input bytes
48 * @param length the length of the input bytes
49 * @param timestamp the timestamp of input data
50 * @param chassis_detail the parsed chassis_detail
51 */
52 virtual void Parse(const std::uint8_t *bytes, int32_t length,
53 Lincoln *chassis_detail) const;
54
64 double roll_rate(const std::uint8_t *bytes, int32_t length) const;
65
75 double yaw_rate(const std::uint8_t *bytes, int32_t length) const;
76};
77
78} // namespace lincoln
79} // namespace canbus
80} // namespace apollo
one of the protocol data of lincoln vehicle
Definition gyro_6c.h:41
double roll_rate(const std::uint8_t *bytes, int32_t length) const
calculate the roll rate based on byte array.
Definition gyro_6c.cc:38
virtual void Parse(const std::uint8_t *bytes, int32_t length, Lincoln *chassis_detail) const
Definition gyro_6c.cc:29
double yaw_rate(const std::uint8_t *bytes, int32_t length) const
calculate longitudinal_acceleration based on byte array.
Definition gyro_6c.cc:50
static const int32_t ID
Definition gyro_6c.h:43
This is the base class of protocol data.
class register implement
Definition arena_queue.h:37
The class of ProtocolData