Class RobosenseScanDecoder

• Defined in File robosense_scan_decoder.hpp

Inheritance Relationships

Derived Type

• public nebula::drivers::RobosenseDecoder< SensorT > (Template Class RobosenseDecoder)

Class Documentation

class RobosenseScanDecoder

Base class for Robosense LiDAR decoder.

Subclassed by nebula::drivers::RobosenseDecoder< SensorT >

Public Functions

RobosenseScanDecoder(RobosenseScanDecoder &&c) = delete

RobosenseScanDecoder &operator=(RobosenseScanDecoder &&c) = delete

RobosenseScanDecoder(const RobosenseScanDecoder &c) = delete

RobosenseScanDecoder &operator=(const RobosenseScanDecoder &c) = delete

virtual ~RobosenseScanDecoder() = default

RobosenseScanDecoder() = default

virtual int unpack(const std::vector<uint8_t> &msop_packet) = 0

Parses RobosensePacket and add its points to the point cloud.

Parameters:

msop_packet – The incoming MsopPacket

Returns:

The last azimuth processed

virtual bool has_scanned() = 0

Indicates whether one full scan is ready.

Returns:

Whether a scan is ready

virtual std::tuple<drivers::NebulaPointCloudPtr, double> get_pointcloud() = 0

Returns the point cloud and timestamp of the last scan.

Returns:

A tuple of point cloud and timestamp in nanoseconds