livox_ros_driver: lds.h File Reference

#include <math.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string>
#include <vector>
#include <mutex>
#include <condition_variable>
#include "ldq.h"
#include "livox_def.h"

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Classes
struct	livox_ros::DataTypePointInfoPair

struct	livox_ros::ExtrinsicParameter

class	livox_ros::Lds

union	livox_ros::LdsStamp

struct	livox_ros::LidarDevice

struct	livox_ros::LidarPacketStatistic

struct	livox_ros::LivoxPointXyzr

struct	livox_ros::LivoxPointXyzrtl

struct	livox_ros::PointXyz

struct	livox_ros::ProductTypePointInfoPair

class	livox_ros::Semaphore

struct	livox_ros::UserConfig

struct	livox_ros::UserRawConfig

Namespaces
	livox_ros

Typedefs
typedef float	livox_ros::EulerAngle[3]

typedef uint8_t (	livox_ros::PointConvertHandler) (uint8_t point_buf, LivoxEthPacket eth_packet, ExtrinsicParameter &extrinsic, uint32_t line_num)

typedef float	livox_ros::RotationMatrix[3][3]

typedef float	livox_ros::TranslationVector[3]

Enumerations
enum	livox_ros::CoordinateType { livox_ros::kCoordinateCartesian = 0, livox_ros::kCoordinateSpherical }

enum	livox_ros::ExtrinsicParameterType { livox_ros::kNoneExtrinsicParameter, livox_ros::kExtrinsicParameterFromLidar, livox_ros::kExtrinsicParameterFromXml }

enum	livox_ros::LidarConfigCodeBit { livox_ros::kConfigFan = 1 << 0, livox_ros::kConfigReturnMode = 1 << 1, livox_ros::kConfigCoordinate = 1 << 2, livox_ros::kConfigImuRate = 1 << 3, livox_ros::kConfigGetExtrinsicParameter = 1 << 4, livox_ros::kConfigSetHighSensitivity = 1 << 5, livox_ros::kConfigUndef }

enum	livox_ros::LidarConnectState { livox_ros::kConnectStateOff = 0, livox_ros::kConnectStateOn = 1, livox_ros::kConnectStateConfig = 2, livox_ros::kConnectStateSampling = 3 }

enum	livox_ros::LidarDataOutputType { livox_ros::kOutputToRos = 0, livox_ros::kOutputToRosBagFile = 1 }

enum	livox_ros::LidarDataSourceType { livox_ros::kSourceRawLidar = 0, livox_ros::kSourceRawHub = 1, livox_ros::kSourceLvxFile, livox_ros::kSourceUndef }

Functions
uint32_t	livox_ros::CalculatePacketQueueSize (uint32_t interval_ms, uint8_t product_type, uint8_t data_type)

void	livox_ros::EulerAnglesToRotationMatrix (EulerAngle euler, RotationMatrix matrix)

PointConvertHandler	livox_ros::GetConvertHandler (uint8_t data_type)

uint32_t	livox_ros::GetEchoNumPerPoint (uint32_t data_type)

uint32_t	livox_ros::GetEthPacketLen (uint32_t data_type)

uint32_t	livox_ros::GetLaserLineNumber (uint32_t product_type)

uint32_t	livox_ros::GetPacketInterval (uint32_t product_type, uint32_t data_type)

uint32_t	livox_ros::GetPacketNumPerSec (uint32_t product_type, uint32_t data_type)

uint32_t	livox_ros::GetPointInterval (uint32_t product_type)

uint32_t	livox_ros::GetPointLen (uint32_t data_type)

uint32_t	livox_ros::GetPointsPerPacket (uint32_t data_type)

uint64_t	livox_ros::GetStoragePacketTimestamp (StoragePacket *packet, uint8_t data_src)

bool	livox_ros::IsFilePathValid (const char *path_str)

bool	livox_ros::IsTripleFloatNoneZero (float x, float y, float z)

bool	livox_ros::IsTripleIntNoneZero (int32_t x, int32_t y, int32_t z)

uint8_t *	livox_ros::LivoxImuDataProcess (uint8_t point_buf, LivoxEthPacket eth_packet)

uint8_t *	livox_ros::LivoxPointToPxyzrtl (uint8_t point_buf, LivoxEthPacket eth_packet, ExtrinsicParameter &extrinsic, uint32_t line_num)

void	livox_ros::ParseCommandlineInputBdCode (const char *cammandline_str, std::vector< std::string > &bd_code_list)

void	livox_ros::PointExtrisincCompensation (PointXyz *dst_point, ExtrinsicParameter &extrinsic)

uint64_t	livox_ros::RawLdsStampToNs (LdsStamp &timestamp, uint8_t timestamp_type)

void	livox_ros::RawPointConvert (LivoxPointXyzr dst_point, LivoxPoint raw_point)

void	livox_ros::RawPointConvert (LivoxPointXyzr dst_point, LivoxRawPoint raw_point)

void	livox_ros::RawPointConvert (LivoxPointXyzr dst_point, LivoxSpherPoint raw_point)

void	livox_ros::RawPointConvert (LivoxPointXyzr dst_point1, LivoxPointXyzr dst_point2, LivoxDualExtendSpherPoint *raw_point)

void	livox_ros::RawPointConvert (LivoxPointXyzr dst_point1, LivoxPointXyzr dst_point2, LivoxPointXyzr dst_point3, LivoxTripleExtendSpherPoint raw_point)

void	livox_ros::ZeroPointDataOfStoragePacket (StoragePacket *storage_packet)

Variables
const DataTypePointInfoPair	livox_ros::data_type_info_pair_table [kMaxPointDataType]

const int	livox_ros::kBdCodeSize = 15

const uint32_t	livox_ros::KCartesianPointSize = 13

const int64_t	livox_ros::kDeviceDisconnectThreshold = 1000000000

const uint32_t	livox_ros::kDeviceTypeLidarMid70 = 6

const uint32_t	livox_ros::KEthPacketHeaderLength = 18

const uint32_t	livox_ros::kImuEthPacketQueueSize = 256

const uint32_t	livox_ros::kMaxEthPacketQueueSize = 131072

const int64_t	livox_ros::kMaxPacketTimeGap = 1700000

const uint32_t	livox_ros::kMaxPointPerEthPacket = 100

const uint32_t	livox_ros::kMaxProductType = 9

const uint32_t	livox_ros::kMaxSourceLidar = 32

const uint32_t	livox_ros::kMinEthPacketQueueSize = 32

const int64_t	livox_ros::kNsPerSecond = 1000000000

const int64_t	livox_ros::kPacketTimeGap = 1000000

const int	livox_ros::kPathStrMaxSize = 256

const int	livox_ros::kPathStrMinSize = 4

const uint32_t	livox_ros::kPointXYZRSize = 16

const uint32_t	livox_ros::kPointXYZRTRSize = 18

const uint64_t	livox_ros::kRosTimeMax = 4294967296000000000

const uint32_t	livox_ros::KSphericalPointSzie = 9

const double	livox_ros::PI = 3.14159265358979323846

const ProductTypePointInfoPair	livox_ros::product_type_info_pair_table [kMaxProductType]

Classes

Namespaces

Typedefs

Enumerations

Functions

Variables