36 #include "ydlidar_driver.h" 42 PropertyBuilderByName(
float, MaxRange,
44 PropertyBuilderByName(
float, MinRange,
46 PropertyBuilderByName(
float, MaxAngle,
48 PropertyBuilderByName(
float, MinAngle,
50 PropertyBuilderByName(
int, SampleRate,
52 PropertyBuilderByName(
float, ScanFrequency,
54 PropertyBuilderByName(
bool, FixedResolution,
56 PropertyBuilderByName(
bool, Reversion,
58 PropertyBuilderByName(
bool, Inverted,
60 PropertyBuilderByName(
bool, AutoReconnect,
62 PropertyBuilderByName(
int, SerialBaudrate,
64 PropertyBuilderByName(
int, AbnormalCheckCount,
66 PropertyBuilderByName(std::string, SerialPort,
68 PropertyBuilderByName(std::vector<float>, IgnoreArray,
70 PropertyBuilderByName(
float, OffsetTime,
72 PropertyBuilderByName(
bool, SingleChannel,
74 PropertyBuilderByName(
int, LidarType,
101 float getAngleOffset()
const;
104 bool isAngleOffetCorrected()
const;
107 std::string getSoftVersion()
const;
110 std::string getHardwareVersion()
const;
113 std::string getSerialNumber()
const;
130 bool checkHardware();
133 bool getDeviceHealth();
136 bool getDeviceInfo();
141 void checkSampleRate();
148 bool CalculateSampleRate(
int count);
151 bool checkScanFrequency();
154 bool checkLidarAbnormal();
160 void checkCalibrationAngle(
const std::string &serialNumber);
167 bool isRangeValid(
double reading)
const;
174 bool isRangeIgnore(
double angle)
const;
179 void handleSingleChannelDevice();
192 void handleDeviceInfoPackage(
int count);
204 bool m_isAngleOffsetCorrected;
205 float frequencyOffset;
210 uint64_t m_PointTime;
211 uint64_t last_node_time;
213 std::map<int, int> SampleRateMap;
215 std::string m_lidarSoftVer;
216 std::string m_lidarHardVer;
217 std::string m_lidarSerialNum;
Definition: help_info.h:39
Definition: ydlidar_protocol.h:309
Definition: ydlidar_protocol.h:250
Definition: ydlidar_protocol.h:172
Definition: ydlidar_driver.h:75
Definition: CYdLidar.h:41
Definition: ydlidar_protocol.h:135