Class SensorInterface

• Defined in File sensor_interface.hpp

Inheritance Relationships

Derived Type

• public OS1::OS1Sensor (Class OS1Sensor)

Class Documentation

class SensorInterface

An interface for lidars units.

Subclassed by OS1::OS1Sensor

Public Types

using SharedPtr = std::shared_ptr<SensorInterface>

using Ptr = std::unique_ptr<SensorInterface>

Public Functions

inline SensorInterface()

A sensor interface constructor.

virtual ~SensorInterface() = default

A sensor interface destructor.

SensorInterface(const SensorInterface&) = delete

SensorInterface &operator=(const SensorInterface&) = delete

SensorInterface(SensorInterface&&) = default

SensorInterface &operator=(SensorInterface&&) = default

virtual void reset(const ros2_ouster::Configuration &config) = 0

Reset lidar sensor.

Parameters:

configuration – file to use

virtual void configure(const ros2_ouster::Configuration &config) = 0

Configure lidar sensor.

Parameters:

configuration – file to use

virtual ros2_ouster::ClientState get() = 0

Ask sensor to get its current state for data collection.

Returns:

the state enum value

virtual uint8_t *readPacket(const ros2_ouster::ClientState &state) = 0

reading the packet corresponding to the sensor state

Parameters:

state – of the sensor

Returns:

the packet of data

virtual ros2_ouster::Metadata getMetadata() = 0

Get lidar sensor’s metadata.

Returns:

sensor metadata struct