LCOV - code coverage report
Current view: top level - src/drivers/velodyne_driver/include/velodyne_driver - common.hpp (source / functions) Hit Total Coverage
Test: lcov.total.filtered Lines: 2 2 100.0 %
Date: 2023-03-03 05:44:19 Functions: 0 0 -
Legend: Lines: hit not hit | Branches: + taken - not taken # not executed Branches: 0 0 -

           Branch data     Line data    Source code
       1                 :            : // Copyright 2018-2020 the Autoware Foundation
       2                 :            : //
       3                 :            : // Licensed under the Apache License, Version 2.0 (the "License");
       4                 :            : // you may not use this file except in compliance with the License.
       5                 :            : // You may obtain a copy of the License at
       6                 :            : //
       7                 :            : //     http://www.apache.org/licenses/LICENSE-2.0
       8                 :            : //
       9                 :            : // Unless required by applicable law or agreed to in writing, software
      10                 :            : // distributed under the License is distributed on an "AS IS" BASIS,
      11                 :            : // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
      12                 :            : // See the License for the specific language governing permissions and
      13                 :            : // limitations under the License.
      14                 :            : //
      15                 :            : // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
      16                 :            : 
      17                 :            : /// \copyright Copyright 2020 the Autoware Foundation
      18                 :            : /// \file
      19                 :            : /// \brief This file defines a driver for Velodyne LiDARs
      20                 :            : 
      21                 :            : #ifndef VELODYNE_DRIVER__COMMON_HPP_
      22                 :            : #define VELODYNE_DRIVER__COMMON_HPP_
      23                 :            : 
      24                 :            : #include <velodyne_driver/visibility_control.hpp>
      25                 :            : #include <geometry_msgs/msg/point32.hpp>
      26                 :            : #include <common/types.hpp>
      27                 :            : 
      28                 :            : namespace autoware
      29                 :            : {
      30                 :            : /// \brief Libraries, ROS nodes, and other functionality relating to
      31                 :            : ///         sensor drivers or actuation.
      32                 :            : namespace drivers
      33                 :            : {
      34                 :            : /// \brief Classes, types, and definitions specifically relating to
      35                 :            : ///        Velodyne LiDARs. In it's current incarnation, we consider Velodyne to be synonymous
      36                 :            : ///        with LiDARs. In the future, this namespace will diverge to LiDAR and Velodyne for
      37                 :            : ///        general LiDAR point cloud functionality, and specific driver functionality for
      38                 :            : ///        velodne LiDARs respectively.
      39                 :            : namespace velodyne_driver
      40                 :            : {
      41                 :            : using autoware::common::types::bool8_t;
      42                 :            : using autoware::common::types::float32_t;
      43                 :            : 
      44                 :            : // These constants seem to be shared among velodyne drivers. If a model with different specs is
      45                 :            : // to be supported, they should be refactored.
      46                 :            : 
      47                 :            : /// resolution of azimuth angle: number of points in a full rotation
      48                 :            : static constexpr uint32_t AZIMUTH_ROTATION_RESOLUTION = 36000U;
      49                 :            : /// conversion from a degree (vlp) to idx
      50                 :            : static constexpr float32_t DEG2IDX = static_cast<float32_t>(AZIMUTH_ROTATION_RESOLUTION) / 360.0F;
      51                 :            : /// how intensity is quantized: 1 byte = 256 possible values
      52                 :            : static constexpr uint32_t NUM_INTENSITY_VALUES = 256U;
      53                 :            : 
      54                 :            : /// number of data blocks per data packet
      55                 :            : static constexpr uint16_t NUM_BLOCKS_PER_PACKET = 12U;
      56                 :            : /// number of points stored in a data block
      57                 :            : static constexpr uint16_t NUM_POINTS_PER_BLOCK = 32U;
      58                 :            : 
      59                 :            : /// \brief computes 2 byte representation of two bytes from out of order velodyne packet
      60                 :            : inline uint32_t to_uint32(const uint8_t first, const uint8_t second)
      61                 :            : {
      62                 :            :   // probably ok since uint8_t<<8 =>uint32_t, this is to get around
      63                 :            :   // warning due to implicit promotion to int
      64                 :      79596 :   const uint32_t ret = static_cast<uint32_t>(first) << 8U;
      65                 :      79596 :   return ret + static_cast<uint32_t>(second);
      66                 :            : }
      67                 :            : 
      68                 :            : using autoware::common::types::PointXYZIF;
      69                 :            : }  // namespace velodyne_driver
      70                 :            : }  // namespace drivers
      71                 :            : }  // namespace autoware
      72                 :            : 
      73                 :            : #endif  // VELODYNE_DRIVER__COMMON_HPP_

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