Template Class RobosenseSensor

Class Documentation

template<typename PacketT, typename InfoPacketT>
class RobosenseSensor

Base class for all sensor definitions.

Template Parameters:

PacketT – The packet type of the sensor

Public Types

typedef PacketT packet_t
typedef InfoPacketT info_t
typedef class AngleCorrectorCalibrationBased<PacketT::n_channels, PacketT::degree_subdivisions> angle_corrector_t

Public Functions

RobosenseSensor() = default
virtual ~RobosenseSensor() = default
virtual int get_packet_relative_point_time_offset(uint32_t block_id, uint32_t channel_id, const std::shared_ptr<const RobosenseSensorConfiguration> &sensor_configuration) = 0

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

  • sensor_configuration – The sensor configuration

Returns:

The relative time offset in nanoseconds

inline int get_earliest_point_time_offset_for_block(uint32_t start_block_id, const std::shared_ptr<const RobosenseSensorConfiguration> &sensor_configuration)

For a given start block index, find the earliest (lowest) relative time offset of any point in the packet in or after the start block.

Parameters:

  • start_block_id – The index of the block in and after which to consider points

  • sensor_configuration – The sensor configuration

Returns:

The lowest point time offset (relative to the packet timestamp) of any point in or after the start block, in nanoseconds

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

Get the return type of the point given by return_idx.

Parameters:

  • return_mode – The sensor’s currently active return mode

  • return_idx – The block index of the point within the group of blocks that make up the return group (e.g. either 0 or 1 for dual return)

  • return_units – The units corresponding to all the returns in the group. These are usually from the same column across adjascent blocks.

Returns:

The return type of the point

virtual ReturnMode get_return_mode(const info_t &info_packet) = 0
virtual RobosenseCalibrationConfiguration get_sensor_calibration(const info_t &info_packet) = 0
virtual bool get_sync_status(const info_t &info_packet) = 0
virtual std::map<std::string, std::string> get_sensor_info(const info_t &info_packet) = 0

Public Static Functions

static inline bool is_duplicate(uint32_t return_idx, const std::vector<const typename PacketT::body_t::block_t::unit_t*> &return_units)

Whether the unit given by return_idx is a duplicate of any other unit in return_units.

Parameters:

  • return_idx – The unit’s index in the return_units vector

  • return_units – The vector of all the units corresponding to the same return group (i.e. length 2 for dual-return with both units having the same channel but coming from different blocks)

Returns:

true if the unit is identical to any other one in return_units, false otherwise