rawdata.h File Reference

Interfaces for interpreting raw packets from the Robosense 3D LIDAR. More...

#include <ros/ros.h>
#include <ros/package.h>
#include <rslidar_msgs/rslidarPacket.h>
#include <rslidar_msgs/rslidarScan.h>
#include "std_msgs/String.h"
#include <pcl/point_types.h>
#include <pcl_ros/point_cloud.h>
#include <pcl_ros/impl/transforms.hpp>
#include <pcl_conversions/pcl_conversions.h>
#include <stdio.h>

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Classes
struct	rslidar_rawdata::raw_block
	Raw rslidar data block. More...
struct	rslidar_rawdata::raw_packet
	Raw Rsldar packet. More...
class	rslidar_rawdata::RawData
	RSLIDAR data conversion class. More...
union	rslidar_rawdata::two_bytes

Namespaces
	rslidar_rawdata

Typedefs
typedef struct rslidar_rawdata::raw_block	rslidar_rawdata::raw_block_t
	Raw rslidar data block. More...
typedef struct rslidar_rawdata::raw_packet	rslidar_rawdata::raw_packet_t
	Raw Rsldar packet. More...

Variables
float	rslidar_rawdata::aIntensityCal [7][32]
float	rslidar_rawdata::aIntensityCal_old [1600][32]
static const int	rslidar_rawdata::BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE)
static const int	rslidar_rawdata::BLOCKS_PER_PACKET = 12
bool	rslidar_rawdata::Curvesis_new = true
float	rslidar_rawdata::CurvesRate [32]
static const float	rslidar_rawdata::DISTANCE_MAX = 200.0f
static const float	rslidar_rawdata::DISTANCE_MAX_UNITS = (DISTANCE_MAX / DISTANCE_RESOLUTION + 1.0f)
static const float	rslidar_rawdata::DISTANCE_MIN = 0.2f
static const float	rslidar_rawdata::DISTANCE_RESOLUTION = 0.01f
static const float	rslidar_rawdata::DISTANCE_RESOLUTION_NEW = 0.005f
int	rslidar_rawdata::g_ChannelNum [32][51]
float	rslidar_rawdata::HORI_ANGLE [32]
static const uint16_t	rslidar_rawdata::LOWER_BANK = 0xddff
int	rslidar_rawdata::numOfLasers = 16
static const int	rslidar_rawdata::PACKET_SIZE = 1248
static const int	rslidar_rawdata::PACKET_STATUS_SIZE = 4
static const int	rslidar_rawdata::RAW_SCAN_SIZE = 3
static const float	rslidar_rawdata::RL32_FIRING_TOFFSET = 50.0f
static const uint16_t	rslidar_rawdata::ROTATION_MAX_UNITS = 36000
static const float	rslidar_rawdata::ROTATION_RESOLUTION = 0.01f
static const float	rslidar_rawdata::RS16_BLOCK_TDURATION = 100.0f
static const float	rslidar_rawdata::RS16_DSR_TOFFSET = 3.0f
static const float	rslidar_rawdata::RS16_FIRING_TOFFSET = 50.0f
static const int	rslidar_rawdata::RS16_FIRINGS_PER_BLOCK = 2
static const int	rslidar_rawdata::RS16_SCANS_PER_FIRING = 16
static const float	rslidar_rawdata::RS32_BLOCK_TDURATION = 50.0f
static const float	rslidar_rawdata::RS32_DSR_TOFFSET = 3.0f
static const int	rslidar_rawdata::RS32_FIRINGS_PER_BLOCK = 1
static const int	rslidar_rawdata::RS32_SCANS_PER_FIRING = 32
static const int	rslidar_rawdata::SCANS_PER_BLOCK = 32
static const int	rslidar_rawdata::SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET)
static const int	rslidar_rawdata::SIZE_BLOCK = 100
float	rslidar_rawdata::temper = 31.0
static const int	rslidar_rawdata::TEMPERATURE_MIN = 31
int	rslidar_rawdata::TEMPERATURE_RANGE = 40
int	rslidar_rawdata::tempPacketNum = 0
static const uint16_t	rslidar_rawdata::UPPER_BANK = 0xeeff
float	rslidar_rawdata::VERT_ANGLE [32]

Detailed Description

Interfaces for interpreting raw packets from the Robosense 3D LIDAR.

Author

Yaxin Liu

Patrick Beeson

Jack O'Quin

Tony Zhang

Definition in file rawdata.h.