common.hpp File Reference

This file defines a driver for Velodyne LiDARs. More...

#include <velodyne_driver/visibility_control.hpp>
#include <geometry_msgs/msg/point32.hpp>
#include <common/types.hpp>

Include dependency graph for common.hpp:

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Namespaces
	autoware
	This file defines the lanelet2_map_provider_node class.

	autoware::drivers
	Libraries, ROS nodes, and other functionality relating to sensor drivers or actuation.

	autoware::drivers::velodyne_driver
	Classes, types, and definitions specifically relating to Velodyne LiDARs. In it's current incarnation, we consider Velodyne to be synonymous with LiDARs. In the future, this namespace will diverge to LiDAR and Velodyne for general LiDAR point cloud functionality, and specific driver functionality for velodne LiDARs respectively.

Functions
uint32_t	autoware::drivers::velodyne_driver::to_uint32 (const uint8_t first, const uint8_t second)
	computes 2 byte representation of two bytes from out of order velodyne packet More...

Variables
static constexpr uint32_t	autoware::drivers::velodyne_driver::AZIMUTH_ROTATION_RESOLUTION = 36000U
	resolution of azimuth angle: number of points in a full rotation More...

static constexpr float32_t	autoware::drivers::velodyne_driver::DEG2IDX = static_cast<float32_t>(AZIMUTH_ROTATION_RESOLUTION) / 360.0F
	conversion from a degree (vlp) to idx More...

static constexpr uint32_t	autoware::drivers::velodyne_driver::NUM_INTENSITY_VALUES = 256U
	how intensity is quantized: 1 byte = 256 possible values More...

static constexpr uint16_t	autoware::drivers::velodyne_driver::NUM_BLOCKS_PER_PACKET = 12U
	number of data blocks per data packet More...

static constexpr uint16_t	autoware::drivers::velodyne_driver::NUM_POINTS_PER_BLOCK = 32U
	number of points stored in a data block More...

Detailed Description

This file defines a driver for Velodyne LiDARs.