Class PandarAT128

Inheritance Relationships

Base Type

  • public nebula::drivers::HesaiSensor< hesai_packet::PacketAT128E2X, AngleCorrectionType::CORRECTION > (Template Class HesaiSensor)

Class Documentation

class PandarAT128 : public nebula::drivers::HesaiSensor<hesai_packet::PacketAT128E2X, AngleCorrectionType::CORRECTION>

Public Functions

inline virtual int get_packet_relative_point_time_offset(uint32_t block_id, uint32_t channel_id, const packet_t &packet) override

Computes the exact relative time between the timestamp of the given packet and the one of the point identified by the given block and channel, in nanoseconds.

Parameters:

  • block_id – The point’s block id

  • channel_id – The point’s channel id

  • packet – The packet

Returns:

The relative time offset in nanoseconds

Public Static Attributes

static constexpr float min_range = 1.f
static constexpr float max_range = 180.0f
static constexpr size_t max_scan_buffer_points = 307200
static constexpr FieldOfView<int32_t, MilliDegrees> fov_mdeg{{30'000, 150'000}, {-12'500, 12'900}}
static constexpr AnglePair<int32_t, MilliDegrees> peak_resolution_mdeg = {100, 200}