API Documentation

LidarPointsMessage

A generic Lidar points message. <br/. Arbitration key member(s): header.src_guid

LidarPointsMessage::LidarPointsMessage ( )

A default constructor.

LidarPointsMessage::LidarPointsMessage ( … )

A copy constructor.

Parameters
in/out type description
in const LidarPointsMessage & Instance being copied.

LidarPointsMessage::LidarPointsMessage ( … )

A convenience constructor from a related type.

Parameters
in/out type description
in const ps_lidar_points_msg & Instance of related type.

LidarPointsMessage::~LidarPointsMessage ( )

A default destructor.

LidarPointsMessage::print ( … )

This will print internal values.

Parameters
in/out type description
in std::ostream & Output stream that defaults to std::cout.

Returns

  • void

LidarPointsMessage::get_ps_lidar_points_msg ( ) const

This will provide convenient access to a related type.

Returns

LidarPointsMessage::operator= ( … )

An assignment operator.

Parameters
in/out type description
in const LidarPointsMessage & Instance to copy.
Returns

static LidarPointsMessage::getName ( )

Get message name, useful in functions requiring message names such as getMessageTypeByName.

Returns
  • std::string

LidarPointsMessage::getHeader ( ) const

This will get a PolySync message header.

Returns

LidarPointsMessage::setHeader ( … )

This will set a PolySync message header.

Parameters
in/out type description
in MsgHeader & Message header.
Returns
  • void

LidarPointsMessage::getHeaderType ( ) const

This will get the message type identifier.

Returns

LidarPointsMessage::setHeaderType ( … )

This will set the message type identifier.

Parameters
in/out type description
in ps_msg_type Message type identifier.
Returns
  • void

LidarPointsMessage::getHeaderTimestamp ( ) const

This will get the message timestamp. [microseconds]

Returns

LidarPointsMessage::setHeaderTimestamp ( … )

This will set the message timestamp. [microseconds]

Parameters
in/out type description
in ps_timestamp In microseconds.
Returns
  • void

LidarPointsMessage::getHeaderSrcGuid ( ) const

This will get the message producer’s GUID.

Returns

LidarPointsMessage::setHeaderSrcGuid ( … )

This will set the message producer’s GUID.

Parameters
in/out type description
in ps_guid Message producer’s GUID.
Returns
  • void

LidarPointsMessage::getSensorDescriptor ( ) const

This will get the standard sensor descriptor.

Returns

LidarPointsMessage::setSensorDescriptor ( … )

This will set the standard sensor descriptor.

Parameters
in/out type description
in SensorDescriptor & Standard sensor descriptor.
Returns
  • void

LidarPointsMessage::getSensorDescriptorId ( ) const

This will get the identifier.

In most cases, this is the serial number. Value PSYNC_SENSOR_ID_INVALID means it is invalid.

Returns

LidarPointsMessage::setSensorDescriptorId ( … )

This will set the identifier. In most cases, this is the serial number. Value PSYNC_SENSOR_ID_INVALID means it is invalid.

Parameters
in/out type description
in ps_identifier
Returns
  • void

LidarPointsMessage::getSensorDescriptorType ( ) const

This will get the sensor descriptor type. Value PSYNC_SENSOR_KIND_INVALID means it is invalid. Value PSYNC_SENSOR_KIND_NOT_AVAILABLE means the type is not available.

Returns

LidarPointsMessage::setSensorDescriptorType ( … )

This will set the sensor descriptor type. Value PSYNC_SENSOR_KIND_INVALID means it is invalid. Value PSYNC_SENSOR_KIND_NOT_AVAILABLE means the type is not available.

Parameters
in/out type description
in ps_sensor_kind The sensor descriptor type.
Returns
  • void

LidarPointsMessage::getSensorDescriptorTransform ( ) const

This will get the transform that describes this data’s coordinate frame.

Returns

LidarPointsMessage::setSensorDescriptorTransform ( … )

This will set the transform that describes this data’s coordinate frame.

Parameters
in/out type description
in TransformStack & The transform that describes this data’s coordinate frame.
Returns
  • void

LidarPointsMessage::getSensorDescriptorTransformParentId ( ) const

This will get the parent coordinate frame identifier. Value PSYNC_COORDINATE_FRAME_INVALID means it is invalid.

Returns

LidarPointsMessage::setSensorDescriptorTransformParentId ( … )

This will set the parent coordinate frame identifier. Value PSYNC_COORDINATE_FRAME_INVALID means it is invalid.

Parameters
in/out type description
in ps_identifier The parent coordinate frame identifier.
Returns
  • void

LidarPointsMessage::getSensorDescriptorTransformTimestamp ( ) const

This will get the last update timestamp of the parent, and/or any of its children transformations.

Returns

LidarPointsMessage::setSensorDescriptorTransformTimestamp ( … )

This will set the last updated timestamp of the parent, and/or any of its children transformations.

Parameters
in/out type description
in ps_timestamp The last update timestamp of the transform.
Returns
  • void

LidarPointsMessage::getSensorDescriptorTransformStack ( ) const

This will get the transformation stack that describes a PolySync transformation.

Returns

LidarPointsMessage::setSensorDescriptorTransformStack ( … )

This will set the transformation stack that describes a PolySync transformation.

Parameters
in/out type description
in std::vector<TransformDescriptor> & The transformation stack.
Returns
  • void

LidarPointsMessage::getTimestamp ( ) const

This will get the last updated timestamp. [UTC microseconds]

Returns

LidarPointsMessage::setTimestamp ( … )

This will set the last updated timestamp. [UTC microseconds]

Parameters
in/out type description
in ps_timestamp The last update timestamp.
Returns
  • void

LidarPointsMessage::getNativeTimestamp ( ) const

This will get the native timestamp associated with the last update. This is provided by some devices. Please check the format field for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means it is invalid.

Returns

LidarPointsMessage::setNativeTimestamp ( … )

This will set the native timestamp associated with the last update. This is provided by some devices. Please check the format field for meaning. Format value PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means it is invalid.

Parameters
in/out type description
in NativeTimestamp &
Returns
  • void

LidarPointsMessage::getNativeTimestampFormat ( ) const

This will get the timestamp format. PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means it is invalid.

Returns
  • unsigned char

LidarPointsMessage::setNativeTimestampFormat ( … )

This will set the timestamp format. PSYNC_NATIVE_TIMESTAMP_FORMAT_INVALID means it is invalid.

Parameters
in/out type description
in unsigned char Timestamp format.
Returns
  • void

LidarPointsMessage::getNativeTimestampValue ( ) const

This will get the timestamp value.

Returns
  • unsigned long long

LidarPointsMessage::setNativeTimestampValue ( … )

This will set the timestamp value.

Parameters
in/out type description
in unsigned long long Timestamp value.
Returns
  • void

LidarPointsMessage::getPoints ( ) const

This will get the lidar points.

Returns

LidarPointsMessage::setPoints ( … )

This will set the lidar points.

Parameters
in/out type description
in const std::vector< LidarPoint > & Lidar points.
Returns
  • void