40 #ifndef LibMultiSense_LidarDataMessage 41 #define LibMultiSense_LidarDataMessage 48 namespace multisense {
59 #ifdef SENSORPOD_FIRMWARE 62 #endif // SENSORDPOD_FIRMWARE 72 #ifdef SENSORPOD_FIRMWARE 73 uint32_t distanceP[SCAN_POINTS];
74 uint32_t intensityP[SCAN_POINTS];
78 #endif // SENSORPOD_FIRMWARE 82 #ifdef SENSORPOD_FIRMWARE
89 #ifndef SENSORPOD_FIRMWARE 103 template<
class Archive>
108 message & timeStartSeconds;
109 message & timeStartMicroSeconds;
110 message & timeEndSeconds;
111 message & timeEndMicroSeconds;
112 message & angleStart;
116 const uint32_t rangeSize =
sizeof(uint32_t) * points;
117 const uint32_t intensitySize =
sizeof(uint32_t) * points;
121 message.write(distanceP, rangeSize);
122 message.write(intensityP, intensitySize);
126 distanceP = (uint32_t *) message.peek();
127 message.seek(message.tell() + rangeSize);
129 intensityP = (uint32_t *) message.peek();
130 message.seek(message.tell() + intensitySize);
135 #endif // !SENSORPOD_FIRMWARE
LidarData(utility::BufferStreamReader &r, VersionType v)
void serialize(Stream &stream, const T &t)
void serialize(Archive &message, const VersionType version)
#define WIRE_HEADER_ATTRIBS_
static CRL_CONSTEXPR IdType ID_DATA_LIDAR_SCAN