Struct CObservationVelodyneScan::TVelodyneRawPacket

Nested Relationships

This struct is a nested type of Class CObservationVelodyneScan.

Struct Documentation

struct TVelodyneRawPacket

One unit of data from the scanner (the payload of one UDP DATA packet)

Public Functions

inline uint32_t gps_timestamp() const

Public Members

raw_block_t blocks[BLOCKS_PER_PACKET]
uint8_t laser_return_mode

0x37: strongest, 0x38: last, 0x39: dual return

uint8_t velodyne_model_ID

0x21: HDL-32E, 0x22: VLP-16