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autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT > Class Template Reference

#include <xsens_base_translator.hpp>

Inheritance diagram for autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >:
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Collaboration diagram for autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >:
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Classes

struct  Packet
 

Public Member Functions

 XsensBaseTranslator ()
 
bool8_t use_double_precision (int32_t data_id)
 
bool8_t convert (const Packet &pkt, MessageT &output)
 Convert Xsens frames into ROS messages. An Xsens frame is composed of the following bytes: More...
 
void parse_mtdata2 (MessageT &output)
 

Protected Types

enum  State {
  State::START, State::PREAMBLE_READ, State::BID_READ, State::MID_READ,
  State::LENGTH_READ
}
 

Protected Attributes

std::vector< uint8_t > raw_message_
 
State current_state_
 
MID current_mid_
 
std::size_t current_length_
 

Additional Inherited Members

- Protected Member Functions inherited from autoware::common::helper_functions::crtp< Derived >
const Derived & impl () const
 
Derived & impl ()
 

Member Enumeration Documentation

◆ State

template<typename Derived, typename MessageT>
enum autoware::drivers::xsens_driver::XsensBaseTranslator::State
strongprotected
Enumerator
START 
PREAMBLE_READ 
BID_READ 
MID_READ 
LENGTH_READ 

Constructor & Destructor Documentation

◆ XsensBaseTranslator()

template<typename Derived, typename MessageT>
autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::XsensBaseTranslator ( )
inline

Member Function Documentation

◆ convert()

template<typename Derived, typename MessageT>
bool8_t autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::convert ( const Packet &  pkt,
MessageT &  output 
)
inline

Convert Xsens frames into ROS messages. An Xsens frame is composed of the following bytes:

  • A preamble (byte value 0xFA)
  • Bus Identifier (or BID, byte value 0xFF)
  • Message Identifier (or MID, 1 byte)
  • Message length (1 byte)
  • Data (0 to 254 bytes)
  • Checksum (1 byte)

◆ parse_mtdata2()

template<typename Derived, typename MessageT>
void autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::parse_mtdata2 ( MessageT &  output)
inline

◆ use_double_precision()

template<typename Derived, typename MessageT>
bool8_t autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::use_double_precision ( int32_t  data_id)
inline

Member Data Documentation

◆ current_length_

template<typename Derived, typename MessageT>
std::size_t autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::current_length_
protected

◆ current_mid_

template<typename Derived, typename MessageT>
MID autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::current_mid_
protected

◆ current_state_

template<typename Derived, typename MessageT>
State autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::current_state_
protected

◆ raw_message_

template<typename Derived, typename MessageT>
std::vector<uint8_t> autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::raw_message_
protected
The documentation for this class was generated from the following file: