autoware::drivers::velodyne_driver::VelodyneTranslator< SensorData > Class Template Reference

This class handles converting packets from a velodyne lidar into cartesian points. More...

#include <velodyne_translator.hpp>

Classes
class	Config
struct	DataBlock
	corresponds to a velodyne data block. More...
struct	DataChannel
	corresponds to an individual laser's firing and return First two bytes are distance, last byte is intensity More...
struct	Packet
	stores a Velodyne data packet More...

Public Member Functions
	VelodyneTranslator (const Config &config)
	default constructor More...
void	convert (const Packet &pkt, std::vector< autoware::common::types::PointXYZIF > &output)
	Convert a packet into a block of cartesian points. More...

Static Public Attributes
static constexpr uint16_t	POINT_BLOCK_CAPACITY = 512U
	Stores basic configuration information, does some simple validity checking. More...

Detailed Description

template<typename SensorData>
class autoware::drivers::velodyne_driver::VelodyneTranslator< SensorData >

This class handles converting packets from a velodyne lidar into cartesian points.

Template Parameters

SensorData

Data class representing a specific sensor model.

Constructor & Destructor Documentation

VelodyneTranslator()

template<typename SensorData >

autoware::drivers::velodyne_driver::VelodyneTranslator< SensorData >::VelodyneTranslator ( const Config &  config )

inlineexplicit

default constructor

Parameters

[in]

config

config struct with rpm, transform, radial and angle pruning params

Exceptions

std::runtime_error

if pruning parameters are inconsistent

Member Function Documentation

convert()

template<typename SensorData >

void autoware::drivers::velodyne_driver::VelodyneTranslator< SensorData >::convert ( const Packet &  pkt, std::vector< autoware::common::types::PointXYZIF > &  output  )

inline

Convert a packet into a block of cartesian points.

Parameters

[in]	pkt	A packet from a VLP16 HiRes sensor for conversion
[out]	output	Gets filled with cartesian points and any additional flags

Member Data Documentation

POINT_BLOCK_CAPACITY

template<typename SensorData >

constexpr uint16_t autoware::drivers::velodyne_driver::VelodyneTranslator< SensorData >::POINT_BLOCK_CAPACITY = 512U

static

Stores basic configuration information, does some simple validity checking.

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The documentation for this class was generated from the following file:

• velodyne_translator.hpp