Autoware.Auto
autoware::drivers::xsens_nodes::XsensCommonNode< TranslatorT, MessageT > Class Template Reference

#include <xsens_common_node.hpp>

Inheritance diagram for autoware::drivers::xsens_nodes::XsensCommonNode< TranslatorT, MessageT >:
Collaboration diagram for autoware::drivers::xsens_nodes::XsensCommonNode< TranslatorT, MessageT >:

Public Member Functions

 XsensCommonNode (const std::string &node_name, const std::string &device_name, const typename autoware::drivers::serial_driver::SerialDriverNode< XsensCommonNode< TranslatorT, MessageT >, typename TranslatorT::Packet, MessageT > ::SerialPortConfig &serial_port_config, const std::string &frame_id, const typename TranslatorT::Config &config)
 Default constructor, starts driver. More...
 
 XsensCommonNode (const std::string &node_name, const std::string &node_namespace="")
 Parameter file constructor. More...
 
void init_output (MessageT &output)
 
bool8_t convert (const typename TranslatorT::Packet &pkt, MessageT &output)
 
bool8_t get_output_remainder (MessageT &output)
 

Constructor & Destructor Documentation

◆ XsensCommonNode() [1/2]

template<typename TranslatorT , typename MessageT >
autoware::drivers::xsens_nodes::XsensCommonNode< TranslatorT, MessageT >::XsensCommonNode ( const std::string &  node_name,
const std::string &  device_name,
const typename autoware::drivers::serial_driver::SerialDriverNode< XsensCommonNode< TranslatorT, MessageT >, typename TranslatorT::Packet, MessageT > ::SerialPortConfig &  serial_port_config,
const std::string &  frame_id,
const typename TranslatorT::Config &  config 
)
inline

Default constructor, starts driver.

Parameters
[in]node_namename of the node for rclcpp internals
[in]device_nameName of the serial device.
[in]serial_port_configconfig struct with baud_rate, flow_control, parity and stop_bits params
[in]frame_idFrame id for the published point cloud messages
[in]configConfig struct with rpm, transform, radial and angle pruning params
Exceptions
std::runtime_errorIf cloud_size is not sufficiently large

◆ XsensCommonNode() [2/2]

template<typename TranslatorT , typename MessageT >
autoware::drivers::xsens_nodes::XsensCommonNode< TranslatorT, MessageT >::XsensCommonNode ( const std::string &  node_name,
const std::string &  node_namespace = "" 
)
inline

Parameter file constructor.

Parameters
[in]node_nameName of this node
[in]node_namespaceNamespace for this node

Member Function Documentation

◆ convert()

template<typename TranslatorT , typename MessageT >
bool8_t autoware::drivers::xsens_nodes::XsensCommonNode< TranslatorT, MessageT >::convert ( const typename TranslatorT::Packet &  pkt,
MessageT &  output 
)
inline

◆ get_output_remainder()

template<typename TranslatorT , typename MessageT >
bool8_t autoware::drivers::xsens_nodes::XsensCommonNode< TranslatorT, MessageT >::get_output_remainder ( MessageT &  output)
inline

◆ init_output()

template<typename TranslatorT , typename MessageT >
void autoware::drivers::xsens_nodes::XsensCommonNode< TranslatorT, MessageT >::init_output ( MessageT &  output)
inline

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