.. _program_listing_file_include_ros2_ouster_interfaces_metadata.hpp:

Program Listing for File metadata.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_ros2_ouster_interfaces_metadata.hpp>` (``include/ros2_ouster/interfaces/metadata.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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_