autoware::drivers::velodyne_driver::VLP16Data Class Reference

Class implementing VLP16 specific computation and caches. More...

#include <vlp16_data.hpp>

Collaboration diagram for autoware::drivers::velodyne_driver::VLP16Data:

Public Types
using	BlockFlag = uint8_t[2U]

Public Member Functions
	VLP16Data (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 VLP16. More...

Static Public Attributes
static constexpr float32_t	FIRE_SEQ_OFFSET_US = 55.296F
	full (16 point) fire sequence takes this long to cycle More...
static constexpr float32_t	FIRE_DURATION_US = 2.304F
	one laser fires for this long More...
static constexpr uint16_t	NUM_LASERS {16U}
static constexpr float32_t	NUM_SEQUENCES_PER_BLOCK {NUM_POINTS_PER_BLOCK / NUM_LASERS}
static constexpr float32_t	DISTANCE_RESOLUTION {0.002f}

Detailed Description

Class implementing VLP16 specific computation and caches.

Member Typedef Documentation

BlockFlag

using autoware::drivers::velodyne_driver::VLP16Data::BlockFlag = uint8_t[2U]

Constructor & Destructor Documentation

VLP16Data()

autoware::drivers::velodyne_driver::VLP16Data::VLP16Data ( const float32_t  rpm )

explicit

Member Function Documentation

altitude()

uint32_t autoware::drivers::velodyne_driver::VLP16Data::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_pts	Number of points from the sequence that were transferred on previous blocks.
block_id	Block ID within the packet.
pt_id	Point ID within the block.

Returns

Altitude angle for the given laser.

azimuth_offset()

uint32_t autoware::drivers::velodyne_driver::VLP16Data::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_pts	Number of points from the sequence that were transferred on previous blocks.
block_id	Block ID within the packet.
pt_id	Point ID within the block.

Returns

Azimuth offset for the given laser.

check_flag()

std::pair< bool8_t, uint16_t > autoware::drivers::velodyne_driver::VLP16Data::check_flag

(

const BlockFlag &

flag

)

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

Parameters

flag	2 byte flag from the block. Should be 0xFFEE

Returns

A pair that contains a bool representing the validity of the flag and an integer containing the number of banked poitns. For VLP16 a single block can contain a whole firing sequence, hence the value will be 0;

distance_resolution()

static constexpr float32_t autoware::drivers::velodyne_driver::VLP16Data::distance_resolution ( )

inlinestaticconstexprnoexcept

Get distance resolution of VLP16.

num_blocks_per_revolution()

uint16_t autoware::drivers::velodyne_driver::VLP16Data::num_blocks_per_revolution ( ) const

noexcept

Get number of blocks generated in a single revolution.

seq_id()

uint16_t autoware::drivers::velodyne_driver::VLP16Data::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_blocks	Total number of blocks.
pt_id	Residue 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::VLP16Data::DISTANCE_RESOLUTION {0.002f}

staticconstexpr

FIRE_DURATION_US

constexpr float32_t autoware::drivers::velodyne_driver::VLP16Data::FIRE_DURATION_US = 2.304F

staticconstexpr

one laser fires for this long

FIRE_SEQ_OFFSET_US

constexpr float32_t autoware::drivers::velodyne_driver::VLP16Data::FIRE_SEQ_OFFSET_US = 55.296F

staticconstexpr

full (16 point) fire sequence takes this long to cycle

NUM_LASERS

constexpr uint16_t autoware::drivers::velodyne_driver::VLP16Data::NUM_LASERS {16U}

staticconstexpr

NUM_SEQUENCES_PER_BLOCK

constexpr float32_t autoware::drivers::velodyne_driver::VLP16Data::NUM_SEQUENCES_PER_BLOCK {NUM_POINTS_PER_BLOCK / NUM_LASERS}

staticconstexpr

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

• vlp16_data.hpp
• vlp16_data.cpp