Classes | Namespaces | Typedefs | Variables
rawdata.h File Reference

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

#include <errno.h>
#include <stdint.h>
#include <string>
#include <boost/format.hpp>
#include <math.h>
#include <ros/ros.h>
#include <velodyne_msgs/VelodyneScan.h>
#include <velodyne_pointcloud/calibration.h>
#include <velodyne_pointcloud/datacontainerbase.h>
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Classes

struct  velodyne_rawdata::RawData::Config
 
struct  velodyne_rawdata::raw_block
 Raw Velodyne data block. More...
 
struct  velodyne_rawdata::raw_packet
 Raw Velodyne packet. More...
 
class  velodyne_rawdata::RawData
 Velodyne data conversion class. More...
 
union  velodyne_rawdata::two_bytes
 

Namespaces

 velodyne_rawdata
 

Typedefs

typedef struct velodyne_rawdata::raw_block velodyne_rawdata::raw_block_t
 Raw Velodyne data block. More...
 
typedef struct velodyne_rawdata::raw_packet velodyne_rawdata::raw_packet_t
 Raw Velodyne packet. More...
 

Variables

static const int velodyne_rawdata::BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE)
 
static const int velodyne_rawdata::BLOCKS_PER_PACKET = 12
 
static const uint16_t velodyne_rawdata::LOWER_BANK = 0xddff
 
static const int velodyne_rawdata::PACKET_SIZE = 1206
 
static const int velodyne_rawdata::PACKET_STATUS_SIZE = 4
 
static const int velodyne_rawdata::RAW_SCAN_SIZE = 3
 
static const uint16_t velodyne_rawdata::ROTATION_MAX_UNITS = 36000u
 
static const float velodyne_rawdata::ROTATION_RESOLUTION = 0.01f
 
static const int velodyne_rawdata::SCANS_PER_BLOCK = 32
 
static const int velodyne_rawdata::SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET)
 
static const int velodyne_rawdata::SIZE_BLOCK = 100
 
static const uint16_t velodyne_rawdata::UPPER_BANK = 0xeeff
 
static const float velodyne_rawdata::VLP16_BLOCK_TDURATION = 110.592f
 
static const float velodyne_rawdata::VLP16_DSR_TOFFSET = 2.304f
 
static const float velodyne_rawdata::VLP16_FIRING_TOFFSET = 55.296f
 
static const int velodyne_rawdata::VLP16_FIRINGS_PER_BLOCK = 2
 
static const int velodyne_rawdata::VLP16_SCANS_PER_FIRING = 16
 

Detailed Description

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

Author
Yaxin Liu
Patrick Beeson
Jack O'Quin

Definition in file rawdata.h.



velodyne_pointcloud
Author(s): Jack O'Quin, Piyush Khandelwal, Jesse Vera, Sebastian Pütz
autogenerated on Thu Jul 4 2019 19:09:30