velodyne_lidar::VelodyneDataDriver Class Reference

#include <velodyneDataDriver.hpp>

Inheritance diagram for velodyne_lidar::VelodyneDataDriver:

Public Member Functions
	VelodyneDataDriver (SensorType sensor_type, double broadcast_frequency)
virtual	~VelodyneDataDriver ()
bool	readNewPacket ()
bool	isScanComplete ()
virtual bool	convertScanToSample (base::samples::DepthMap &sample, bool copy_remission=true)=0
void	clearCurrentScan ()
void	setScanSize (double angular_size)
double	getScanSize ()
int64_t	getPacketLostCount ()
int64_t	getPacketReceivedCount ()
virtual double	getBroadcastFrequency ()=0
void	print_packet (velodyne_data_packet_t &)

Protected Member Functions
virtual int	extractPacket (uint8_t const *buffer, size_t buffer_size) const
void	addNewPacket (const StampedDataPacket &packet)

Protected Attributes
SensorType	sensor_type
uint64_t	target_batch_size
uint64_t	current_batch_size
uint16_t	last_rotational_pos
uint32_t	last_packet_internal_timestamp
int64_t	packets_idx
int64_t	packets_lost
int64_t	expected_packet_period
aggregator::TimestampEstimator *	timestamp_estimator
std::vector< StampedDataPacket >	packets

Constructor & Destructor Documentation

VelodyneDataDriver()

VelodyneDataDriver::VelodyneDataDriver	(	SensorType	sensor_type,
		double	broadcast_frequency
	)

~VelodyneDataDriver()

VelodyneDataDriver::~VelodyneDataDriver ( )

virtual

Member Function Documentation

addNewPacket()

void VelodyneDataDriver::addNewPacket ( const StampedDataPacket &  packet )

protected

Adds a new stamped packet to the upper or lower head list.

clearCurrentScan()

void VelodyneDataDriver::clearCurrentScan

(

)

Clears all collected packets.

convertScanToSample()

virtual bool velodyne_lidar::VelodyneDataDriver::convertScanToSample ( base::samples::DepthMap &  sample, bool  copy_remission = true  )

pure virtual

Converts a full scan to a DepthMap sample. Also clears all collected packets of the corresponding laser head.

Returns

true on success, false if nothing to convert.

Implemented in velodyne_lidar::VelodyneHDL32EDriver, and velodyne_lidar::VelodyneVLP16Driver.

extractPacket()

int VelodyneDataDriver::extractPacket ( uint8_t const *  buffer, size_t  buffer_size  ) const

protectedvirtual

Helper method from Driver to extract the desired message.

getBroadcastFrequency()

virtual double velodyne_lidar::VelodyneDataDriver::getBroadcastFrequency ( )

pure virtual

Return frequency of the arriving data samples

Implemented in velodyne_lidar::VelodyneHDL32EDriver, and velodyne_lidar::VelodyneVLP16Driver.

getPacketLostCount()

int64_t VelodyneDataDriver::getPacketLostCount

(

)

Returns the count of lost packets.

getPacketReceivedCount()

int64_t VelodyneDataDriver::getPacketReceivedCount

(

)

Returns the count of received packets.

getScanSize()

double VelodyneDataDriver::getScanSize

(

)

Returns the target scan size in radian.

isScanComplete()

bool VelodyneDataDriver::isScanComplete

(

)

Returns

true if a full scan is complete, according to the target scan size.

print_packet()

void VelodyneDataDriver::print_packet

(

velodyne_data_packet_t &

packet

)

Prints the packet

readNewPacket()

bool VelodyneDataDriver::readNewPacket

(

)

Read the next packet in the buffer.

Returns

true on success, false if the buffer is empty.

Exceptions

std::runtime_error

on i/o failures.

setScanSize()

void VelodyneDataDriver::setScanSize

(

double

angular_size

)

Set the target scan size in radian.

Member Data Documentation

current_batch_size

uint64_t velodyne_lidar::VelodyneDataDriver::current_batch_size

protected

expected_packet_period

int64_t velodyne_lidar::VelodyneDataDriver::expected_packet_period

protected

last_packet_internal_timestamp

uint32_t velodyne_lidar::VelodyneDataDriver::last_packet_internal_timestamp

protected

last_rotational_pos

uint16_t velodyne_lidar::VelodyneDataDriver::last_rotational_pos

protected

packets

std::vector<StampedDataPacket> velodyne_lidar::VelodyneDataDriver::packets

protected

packets_idx

int64_t velodyne_lidar::VelodyneDataDriver::packets_idx

protected

packets_lost

int64_t velodyne_lidar::VelodyneDataDriver::packets_lost

protected

sensor_type

SensorType velodyne_lidar::VelodyneDataDriver::sensor_type

protected

target_batch_size

uint64_t velodyne_lidar::VelodyneDataDriver::target_batch_size

protected

timestamp_estimator

aggregator::TimestampEstimator* velodyne_lidar::VelodyneDataDriver::timestamp_estimator

protected

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

• /build/rock-master-18.09-drivers-velodyne-lidar-0.20171101/src/velodyneDataDriver.hpp
• /build/rock-master-18.09-drivers-velodyne-lidar-0.20171101/src/velodyneDataDriver.cpp