lslidar_c16_decoder Namespace Reference

Classes
class	LslidarC16Decoder
class	LslidarC16DecoderNodelet
struct	point_struct
struct	PointXYZIT

Typedefs
typedef LslidarC16Decoder::LslidarC16DecoderConstPtr	LslidarC16DecoderConstPtr
typedef LslidarC16Decoder::LslidarC16DecoderPtr	LslidarC16DecoderPtr
typedef PointXYZIT	VPoint
typedef pcl::PointCloud< VPoint >	VPointCloud

Variables
static const int	BLOCK_DATA_SIZE
static const double	BLOCK_TDURATION = 110.592
static const int	BLOCKS_PER_PACKET = 12
static const double	cos_scan_altitude [16]
static const double	DISTANCE_MAX = 130.0
static const double	DISTANCE_MAX_UNITS
static const double	DISTANCE_RESOLUTION = 0.01
static const double	DSR_TOFFSET = 2.304
struct lslidar_c16_decoder::PointXYZIT	EIGEN_ALIGN16
static const double	FIRING_TOFFSET = 55.296
static const int	FIRINGS_PER_BLOCK = 2
static const int	FIRINGS_PER_PACKET
static const uint16_t	LOWER_BANK = 0xddff
static const int	PACKET_SIZE = 1206
static const int	PACKET_STATUS_SIZE = 4
static const int	RAW_SCAN_SIZE = 3
static const double	scan_altitude [16]
static const int	SCANS_PER_BLOCK = 32
static const int	SCANS_PER_FIRING = 16
static const int	SCANS_PER_PACKET
static const double	sin_scan_altitude [16]
static const int	SIZE_BLOCK = 100
static const uint16_t	UPPER_BANK = 0xeeff

Typedef Documentation

typedef LslidarC16Decoder::LslidarC16DecoderConstPtr lslidar_c16_decoder::LslidarC16DecoderConstPtr

Definition at line 243 of file lslidar_c16_decoder.h.

typedef LslidarC16Decoder::LslidarC16DecoderPtr lslidar_c16_decoder::LslidarC16DecoderPtr

Definition at line 242 of file lslidar_c16_decoder.h.

typedef PointXYZIT lslidar_c16_decoder::VPoint

Definition at line 244 of file lslidar_c16_decoder.h.

typedef pcl::PointCloud<VPoint> lslidar_c16_decoder::VPointCloud

Definition at line 245 of file lslidar_c16_decoder.h.

Variable Documentation

const int lslidar_c16_decoder::BLOCK_DATA_SIZE

static

Initial value:

=
        (SCANS_PER_BLOCK * RAW_SCAN_SIZE)

Definition at line 50 of file lslidar_c16_decoder.h.

const double lslidar_c16_decoder::BLOCK_TDURATION = 110.592

static

Definition at line 67 of file lslidar_c16_decoder.h.

const int lslidar_c16_decoder::BLOCKS_PER_PACKET = 12

static

Definition at line 72 of file lslidar_c16_decoder.h.

const double lslidar_c16_decoder::cos_scan_altitude[16]

static

Initial value:

= {
    std::cos(scan_altitude[ 0]), std::cos(scan_altitude[ 1]),
    std::cos(scan_altitude[ 2]), std::cos(scan_altitude[ 3]),
    std::cos(scan_altitude[ 4]), std::cos(scan_altitude[ 5]),
    std::cos(scan_altitude[ 6]), std::cos(scan_altitude[ 7]),
    std::cos(scan_altitude[ 8]), std::cos(scan_altitude[ 9]),
    std::cos(scan_altitude[10]), std::cos(scan_altitude[11]),
    std::cos(scan_altitude[12]), std::cos(scan_altitude[13]),
    std::cos(scan_altitude[14]), std::cos(scan_altitude[15]),
}

Definition at line 91 of file lslidar_c16_decoder.h.

const double lslidar_c16_decoder::DISTANCE_MAX = 130.0

static

meters

Definition at line 55 of file lslidar_c16_decoder.h.

const double lslidar_c16_decoder::DISTANCE_MAX_UNITS

static

Initial value:

=
        (DISTANCE_MAX / DISTANCE_RESOLUTION + 1.0)

Definition at line 57 of file lslidar_c16_decoder.h.

const double lslidar_c16_decoder::DISTANCE_RESOLUTION = 0.01

static

meters

Definition at line 56 of file lslidar_c16_decoder.h.

const double lslidar_c16_decoder::DSR_TOFFSET = 2.304

static

Definition at line 68 of file lslidar_c16_decoder.h.

struct lslidar_c16_decoder::PointXYZIT lslidar_c16_decoder::EIGEN_ALIGN16

const double lslidar_c16_decoder::FIRING_TOFFSET = 55.296

static

Definition at line 69 of file lslidar_c16_decoder.h.

const int lslidar_c16_decoder::FIRINGS_PER_BLOCK = 2

static

Special Defines for VLP16 support

Definition at line 65 of file lslidar_c16_decoder.h.

const int lslidar_c16_decoder::FIRINGS_PER_PACKET

static

Initial value:

=
        FIRINGS_PER_BLOCK * BLOCKS_PER_PACKET

Definition at line 76 of file lslidar_c16_decoder.h.

const uint16_t lslidar_c16_decoder::LOWER_BANK = 0xddff

static

Definition at line 62 of file lslidar_c16_decoder.h.

const int lslidar_c16_decoder::PACKET_SIZE = 1206

static

Definition at line 71 of file lslidar_c16_decoder.h.

const int lslidar_c16_decoder::PACKET_STATUS_SIZE = 4

static

Definition at line 73 of file lslidar_c16_decoder.h.

const int lslidar_c16_decoder::RAW_SCAN_SIZE = 3

static

Definition at line 48 of file lslidar_c16_decoder.h.

const double lslidar_c16_decoder::scan_altitude[16]

static

Initial value:

= {
    -0.2617993877991494,   0.017453292519943295,
    -0.22689280275926285,  0.05235987755982989,
    -0.19198621771937624,  0.08726646259971647,
    -0.15707963267948966,  0.12217304763960307,
    -0.12217304763960307,  0.15707963267948966,
    -0.08726646259971647,  0.19198621771937624,
    -0.05235987755982989,  0.22689280275926285,
    -0.017453292519943295, 0.2617993877991494
}

Definition at line 80 of file lslidar_c16_decoder.h.

const int lslidar_c16_decoder::SCANS_PER_BLOCK = 32

static

Definition at line 49 of file lslidar_c16_decoder.h.

const int lslidar_c16_decoder::SCANS_PER_FIRING = 16

static

Definition at line 66 of file lslidar_c16_decoder.h.

const int lslidar_c16_decoder::SCANS_PER_PACKET

static

Initial value:

=
        (SCANS_PER_BLOCK * BLOCKS_PER_PACKET)

Definition at line 74 of file lslidar_c16_decoder.h.

const double lslidar_c16_decoder::sin_scan_altitude[16]

static

Initial value:

= {
    std::sin(scan_altitude[ 0]), std::sin(scan_altitude[ 1]),
    std::sin(scan_altitude[ 2]), std::sin(scan_altitude[ 3]),
    std::sin(scan_altitude[ 4]), std::sin(scan_altitude[ 5]),
    std::sin(scan_altitude[ 6]), std::sin(scan_altitude[ 7]),
    std::sin(scan_altitude[ 8]), std::sin(scan_altitude[ 9]),
    std::sin(scan_altitude[10]), std::sin(scan_altitude[11]),
    std::sin(scan_altitude[12]), std::sin(scan_altitude[13]),
    std::sin(scan_altitude[14]), std::sin(scan_altitude[15]),
}

Definition at line 102 of file lslidar_c16_decoder.h.

const int lslidar_c16_decoder::SIZE_BLOCK = 100

static

Definition at line 47 of file lslidar_c16_decoder.h.

const uint16_t lslidar_c16_decoder::UPPER_BANK = 0xeeff

static

Todo:

make this work for both big and little-endian machines

Definition at line 61 of file lslidar_c16_decoder.h.