autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT > Class Template Reference

#include <xsens_base_translator.hpp>

Inheritance diagram for autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >:

Collaboration diagram for autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >:

Classes
struct	Packet

Public Member Functions
	XsensBaseTranslator ()
bool8_t	use_double_precision (int32_t data_id)
bool8_t	convert (const Packet &pkt, MessageT &output)
	Convert Xsens frames into ROS messages. An Xsens frame is composed of the following bytes: More...
void	parse_mtdata2 (MessageT &output)

Protected Types
enum	State {   State::START, State::PREAMBLE_READ, State::BID_READ, State::MID_READ,   State::LENGTH_READ }

Protected Attributes
std::vector< uint8_t >	raw_message_
State	current_state_
MID	current_mid_
std::size_t	current_length_

Additional Inherited Members
Protected Member Functions inherited from autoware::common::helper_functions::crtp< Derived >
const Derived &	impl () const
Derived &	impl ()

Member Enumeration Documentation

State

template<typename Derived , typename MessageT >

enum autoware::drivers::xsens_driver::XsensBaseTranslator::State

strongprotected

Enumerator
START
PREAMBLE_READ
BID_READ
MID_READ
LENGTH_READ

Constructor & Destructor Documentation

XsensBaseTranslator()

template<typename Derived , typename MessageT >

autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::XsensBaseTranslator ( )

inline

Member Function Documentation

convert()

template<typename Derived , typename MessageT >

bool8_t autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::convert ( const Packet &  pkt, MessageT &  output  )

inline

Convert Xsens frames into ROS messages. An Xsens frame is composed of the following bytes:

• A preamble (byte value 0xFA)
• Bus Identifier (or BID, byte value 0xFF)
• Message Identifier (or MID, 1 byte)
• Message length (1 byte)
• Data (0 to 254 bytes)
• Checksum (1 byte)

parse_mtdata2()

template<typename Derived , typename MessageT >

void autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::parse_mtdata2 ( MessageT &  output )

inline

use_double_precision()

template<typename Derived , typename MessageT >

bool8_t autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::use_double_precision ( int32_t  data_id )

inline

Member Data Documentation

current_length_

template<typename Derived , typename MessageT >

std::size_t autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::current_length_

protected

current_mid_

template<typename Derived , typename MessageT >

MID autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::current_mid_

protected

current_state_

template<typename Derived , typename MessageT >

State autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::current_state_

protected

raw_message_

template<typename Derived , typename MessageT >

std::vector<uint8_t> autoware::drivers::xsens_driver::XsensBaseTranslator< Derived, MessageT >::raw_message_

protected

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The documentation for this class was generated from the following file:

• xsens_base_translator.hpp