Class PandarXT16

Inheritance Relationships

Base Type

Class Documentation

class PandarXT16 : public nebula::drivers::HesaiSensor<hesai_packet::PacketXT16>

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

inline ReturnType get_return_type(hesai_packet::return_mode::ReturnMode return_mode, unsigned int return_idx, const std::vector<const typename packet_t::body_t::block_t::unit_t*> &return_units) override

Public Static Attributes

static constexpr float min_range = 0.05f
static constexpr float max_range = 120.0f
static constexpr size_t max_scan_buffer_points = 128000
static constexpr FieldOfView<int32_t, MilliDegrees> fov_mdeg = {{0, 360'000}, {-15'000, 15'000}}
static constexpr AnglePair<int32_t, MilliDegrees> peak_resolution_mdeg = {180, 1'000}