Class BpearlV4

Defined in File bpearl_v4.hpp

Inheritance Relationships

Base Type

public nebula::drivers::RobosenseSensor< robosense_packet::bpearl_v4::Packet, robosense_packet::bpearl_v4::InfoPacket > (Template Class RobosenseSensor)

Class Documentation

class BpearlV4 : public nebula::drivers::RobosenseSensor<robosense_packet::bpearl_v4::Packet, robosense_packet::bpearl_v4::InfoPacket>

Public Functions

inline virtual int get_packet_relative_point_time_offset(const uint32_t block_id, const uint32_t channel_id, const std::shared_ptr<const RobosenseSensorConfiguration> &sensor_configuration) 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
sensor_configuration – The sensor configuration

Returns:

The relative time offset in nanoseconds

inline virtual ReturnMode get_return_mode(const robosense_packet::bpearl_v4::InfoPacket &info_packet) override

inline virtual RobosenseCalibrationConfiguration get_sensor_calibration(const robosense_packet::bpearl_v4::InfoPacket &info_packet) override

inline virtual bool get_sync_status(const robosense_packet::bpearl_v4::InfoPacket &info_packet) override

inline virtual std::map<std::string, std::string> get_sensor_info(const robosense_packet::bpearl_v4::InfoPacket &info_packet) override

Public Static Attributes

static constexpr float min_range = 0.1f

static constexpr float max_range = 30.f

static constexpr size_t max_scan_buffer_points = 1152000