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autoware::drivers::velodyne_driver::VLS128Data Class Reference

#include <vls128_data.hpp>

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Public Types

using BlockFlag = uint8_t[2U]
 

Public Member Functions

 VLS128Data (const float32_t rpm)
 
uint32_t azimuth_offset (uint16_t num_banked_pts, uint32_t block_id, uint32_t pt_id) const
 
uint32_t altitude (uint16_t num_banked_pts, uint32_t block_id, uint32_t pt_id) const
 
uint16_t seq_id (uint16_t num_blocks, uint32_t pt_id) const noexcept
 
uint16_t num_blocks_per_revolution () const noexcept
 Get number of blocks generated in a single revolution. More...
 
std::pair< bool8_t, uint16_t > check_flag (const BlockFlag &flag)
 

Static Public Member Functions

static constexpr float32_t distance_resolution () noexcept
 Get distance resolution of VLS128. More...
 

Static Public Attributes

static constexpr float32_t FIRE_SEQ_OFFSET_US = 53.3F
 full (128 point) fire sequence takes this long to cycle More...
 
static constexpr float32_t FIRE_DURATION_US = 2.665F
 A group of 8 lasers takes this much time: More...
 
static constexpr float32_t MAINTENANCE_DURATION1_US = 2.665F
 
static constexpr uint16_t NUM_GROUPS_PER_SEQ {16U}
 
static constexpr uint16_t NUM_LASERS {128U}
 
static constexpr uint16_t GROUP_SIZE {8U}
 
static constexpr float32_t NUM_SEQUENCES_PER_BLOCK {float32_t(NUM_POINTS_PER_BLOCK) / NUM_LASERS}
 
static constexpr float32_t DISTANCE_RESOLUTION {0.004f}
 

Detailed Description

Class implementing vls-128 specific computation and caches. The manual in the following link is used as the reference: https://gpsolution.oss-cn-beijing.aliyuncs.com/manual/LiDAR/MANUAL%2CUSERS%2CVLP-128.pdf

Member Typedef Documentation

◆ BlockFlag

using autoware::drivers::velodyne_driver::VLS128Data::BlockFlag = uint8_t[2U]

Constructor & Destructor Documentation

◆ VLS128Data()

autoware::drivers::velodyne_driver::VLS128Data::VLS128Data ( const float32_t  rpm)
explicit

Member Function Documentation

◆ altitude()

uint32_t autoware::drivers::velodyne_driver::VLS128Data::altitude ( uint16_t  num_banked_pts,
uint32_t  block_id,
uint32_t  pt_id 
) const

Get the altitude angle for a given point in the given block.

Parameters
num_banked_ptsNumber of points from the sequence that were transferred on previous blocks.
block_idBlock ID within the packet.
pt_idPoint ID within the block.
Returns
Altitude angle for the given laser.

◆ azimuth_offset()

uint32_t autoware::drivers::velodyne_driver::VLS128Data::azimuth_offset ( uint16_t  num_banked_pts,
uint32_t  block_id,
uint32_t  pt_id 
) const

Get the azimuth offset for a given point in the given block.

Parameters
num_banked_ptsNumber of points from the sequence that were transferred on previous blocks.
block_idBlock ID within the packet.
pt_idPoint ID within the block.
Returns
Azimuth offset for the given laser.

◆ check_flag()

std::pair< bool8_t, uint16_t > autoware::drivers::velodyne_driver::VLS128Data::check_flag ( const BlockFlag &  flag)

Check the block flag for validity and return the number of banked points.

Parameters
flag2 byte flag from the block. Should be one of 0xFFEE 0xFFDD 0xFFCC 0xFFBB
Returns
A pair that contains a bool representing the validity of the flag and an integer containing the number of banked points.

◆ distance_resolution()

static constexpr float32_t autoware::drivers::velodyne_driver::VLS128Data::distance_resolution ( )
inlinestaticnoexcept

Get distance resolution of VLS128.

◆ num_blocks_per_revolution()

uint16_t autoware::drivers::velodyne_driver::VLS128Data::num_blocks_per_revolution ( ) const
noexcept

Get number of blocks generated in a single revolution.

◆ seq_id()

uint16_t autoware::drivers::velodyne_driver::VLS128Data::seq_id ( uint16_t  num_blocks,
uint32_t  pt_id 
) const
noexcept

Get total number of firing sequences in the number of blocks + number of points.

Parameters
num_blocksTotal number of blocks.
pt_idResidue number of points
Returns
Total number of sequences (floor) in the range pointed by the given indices.

Member Data Documentation

◆ DISTANCE_RESOLUTION

constexpr float32_t autoware::drivers::velodyne_driver::VLS128Data::DISTANCE_RESOLUTION {0.004f}
static

◆ FIRE_DURATION_US

constexpr float32_t autoware::drivers::velodyne_driver::VLS128Data::FIRE_DURATION_US = 2.665F
static

A group of 8 lasers takes this much time:

◆ FIRE_SEQ_OFFSET_US

constexpr float32_t autoware::drivers::velodyne_driver::VLS128Data::FIRE_SEQ_OFFSET_US = 53.3F
static

full (128 point) fire sequence takes this long to cycle

◆ GROUP_SIZE

constexpr uint16_t autoware::drivers::velodyne_driver::VLS128Data::GROUP_SIZE {8U}
static

◆ MAINTENANCE_DURATION1_US

constexpr float32_t autoware::drivers::velodyne_driver::VLS128Data::MAINTENANCE_DURATION1_US = 2.665F
static

◆ NUM_GROUPS_PER_SEQ

constexpr uint16_t autoware::drivers::velodyne_driver::VLS128Data::NUM_GROUPS_PER_SEQ {16U}
static

◆ NUM_LASERS

constexpr uint16_t autoware::drivers::velodyne_driver::VLS128Data::NUM_LASERS {128U}
static

◆ NUM_SEQUENCES_PER_BLOCK

constexpr float32_t autoware::drivers::velodyne_driver::VLS128Data::NUM_SEQUENCES_PER_BLOCK {float32_t(NUM_POINTS_PER_BLOCK) / NUM_LASERS}
static
The documentation for this class was generated from the following files: