Class RawData

• Defined in File rawdata.hpp

Nested Relationships

Nested Types

• Struct RawData::Config

Class Documentation

class RawData

Velodyne data conversion class.

Public Functions

RawData(const std::string &calibration_file, const std::string &model)

void setupSinCosCache()

void setupAzimuthCache()

bool loadCalibration()

void unpack(const velodyne_msgs::msg::VelodynePacket &pkt, DataContainerBase &data, const rclcpp::Time &scan_start_time)

void setParameters(double min_range, double max_range, double view_direction, double view_width)

int scansPerPacket() const

int numLasers() const