Program Listing for File metadata.hpp
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// Copyright 2020, Steve Macenski
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef ROS2_OUSTER__INTERFACES__METADATA_HPP_
#define ROS2_OUSTER__INTERFACES__METADATA_HPP_
#include <vector>
#include <string>
namespace ros2_ouster
{
enum ClientState
{
TIMEOUT = 0,
ERROR = 1,
LIDAR_DATA = 2,
IMU_DATA = 4,
EXIT = 8
};
struct Metadata
{
std::string hostname;
std::string sn;
std::string fw_rev;
std::string mode;
std::string timestamp_mode;
std::vector<double> beam_azimuth_angles;
std::vector<double> beam_altitude_angles;
std::vector<double> imu_to_sensor_transform;
std::vector<double> lidar_to_sensor_transform;
int imu_port;
int lidar_port;
};
} // namespace ros2_ouster
#endif // ROS2_OUSTER__INTERFACES__METADATA_HPP_