ring_sequence.h

Go to the documentation of this file.

// Copyright (C) 2010, 2019 Austin Robot Technology, Jack O'Quin, Joshua Whitley
// All rights reserved.
//
// Software License Agreement (BSD License 2.0)
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above
//    copyright notice, this list of conditions and the following
//    disclaimer in the documentation and/or other materials provided
//    with the distribution.
//  * Neither the name of {copyright_holder} nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
#ifndef VELODYNE_DRIVER_RING_SEQUENCE_H
#define VELODYNE_DRIVER_RING_SEQUENCE_H
 
namespace velodyne
{
 
// number of lasers
const int N_LASERS = 64;
 
// ring sequence for device laser numbers
const int LASER_SEQUENCE[N_LASERS] =
  {
    6,  7,  10, 11, 0,  1,  4,  5,
    8,  9,  14, 15, 18, 19, 22, 23,
    12, 13, 16, 17, 20, 21, 26, 27,
    30, 31, 2,  3,  24, 25, 28, 29,
    38, 39, 42, 43, 32, 33, 36, 37,
    40, 41, 46, 47, 50, 51, 54, 55,
    44, 45, 48, 49, 52, 53, 58, 59,
    62, 63, 34, 35, 56, 57, 60, 61
  };
 
// convert laser number to ring sequence (inverse of LASER_SEQUENCE)
const int LASER_RING[N_LASERS] =
  {
     4,  5, 26, 27,  6,  7,  0,  1,
     8,  9,  2,  3, 16, 17, 10, 11,
    18, 19, 12, 13, 20, 21, 14, 15,
    28, 29, 22, 23, 30, 31, 24, 25,
    36, 37, 58, 59, 38, 39, 32, 33,
    40, 41, 34, 35, 48, 49, 42, 43,
    50, 51, 44, 45, 52, 53, 46, 47,
    60, 61, 54, 55, 62, 63, 56, 57
  };
 
}  // namespace velodyne
 
#endif  // VELODYNE_DRIVER_RING_SEQUENCE_H