data_base.h File Reference

#include <errno.h>
#include <stdint.h>
#include <string>
#include <boost/format.hpp>
#include <ros/ros.h>
#include <velodyne_common/RawScan.h>
#include <velodyne_msgs/VelodyneScan.h>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"
#include "std_msgs/Header.h"

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Classes
struct	Velodyne::correction_angles
	Correction angles for a specific HDL-64E device. More...
class	Velodyne::Data
	Base Velodyne data class -- not used directly. More...
struct	Velodyne::raw_block
	Raw Velodyne data block. More...
struct	Velodyne::raw_packet
	Raw Velodyne packet. More...
union	Velodyne::two_bytes
Namespaces
namespace	Velodyne
Typedefs
typedef struct Velodyne::raw_block	Velodyne::raw_block_t
	Raw Velodyne data block.
typedef struct Velodyne::raw_packet	Velodyne::raw_packet_t
	Raw Velodyne packet.
Variables
static const int	Velodyne::BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE)
static const int	Velodyne::BLOCKS_PER_PACKET = 12
static const float	Velodyne::DISTANCE_MAX = 130.0f
static const float	Velodyne::DISTANCE_MAX_UNITS
static const float	Velodyne::DISTANCE_RESOLUTION = 0.002f
static const uint16_t	Velodyne::LOWER_BANK = 0xddff
static const int	Velodyne::PACKET_SIZE = 1206
static const int	Velodyne::PACKET_STATUS_SIZE = 4
static const int	Velodyne::PACKETS_PER_REV = 260
static const int	Velodyne::RAW_SCAN_SIZE = 3
static const float	Velodyne::ROTATION_MAX_UNITS = 36000
static const float	Velodyne::ROTATION_RESOLUTION = 0.01f
static const int	Velodyne::SCANS_PER_BLOCK = 32
static const int	Velodyne::SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET)
static const int	Velodyne::SCANS_PER_REV = (SCANS_PER_PACKET * PACKETS_PER_REV)
static const int	Velodyne::SIZE_BLOCK = 100
static const uint16_t	Velodyne::UPPER_BANK = 0xeeff

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Detailed Description

Velodyne HDL-64E 3D LIDAR data accessor base class.

Base class for unpacking raw Velodyne LIDAR packets into various useful formats.

Author:

Yaxin Liu

Patrick Beeson

Jack O'Quin

Definition in file data_base.h.