Class VelodyneDriver

• Defined in File velodyne_driver.hpp

Inheritance Relationships

Base Type

• private nebula::drivers::NebulaDriverBase

Class Documentation

class VelodyneDriver : private nebula::drivers::NebulaDriverBase

Velodyne driver.

Public Functions

VelodyneDriver() = delete

VelodyneDriver(const std::shared_ptr<const drivers::VelodyneSensorConfiguration> &sensor_configuration, const std::shared_ptr<const drivers::VelodyneCalibrationConfiguration> &calibration_configuration)

Constructor.

Parameters:

• sensor_configuration – SensorConfiguration for this driver

• calibration_configuration – CalibrationConfiguration for this driver

virtual Status set_calibration_configuration(const CalibrationConfigurationBase &calibration_configuration) override

Setting CalibrationConfiguration (not used)

Parameters:

calibration_configuration –

Returns:

Resulting status

Status get_status()

Get current status of this driver.

Returns:

Current status

std::tuple<drivers::NebulaPointCloudPtr, double> parse_cloud_packet(const std::vector<uint8_t> &packet, double packet_seconds)

Convert VelodyneScan message to point cloud.

Parameters:

velodyne_scan – Message

Returns:

tuple of Point cloud and timestamp