Velodyne Namespace Reference

Classes
struct	correction_angles
	Correction angles for a specific HDL-64E device. More...
class	Data
	Base Velodyne data class -- not used directly. More...
class	DataScans
	Convert Velodyne raw input to laserscans format. More...
class	DataXYZ
	Convert Velodyne raw input to XYZ format. More...
struct	laserscan
	A single laser scan in Velodyne's frame of reference. More...
struct	laserscan_xyz
	a single laser scan in XYZ format More...
struct	raw_block
	Raw Velodyne data block. More...
struct	raw_packet
	Raw Velodyne packet. More...
union	two_bytes
Typedefs
typedef struct Velodyne::laserscan	laserscan_t
	A single laser scan in Velodyne's frame of reference.
typedef struct Velodyne::laserscan_xyz	laserscan_xyz_t
	a single laser scan in XYZ format
typedef struct Velodyne::raw_block	raw_block_t
	Raw Velodyne data block.
typedef struct Velodyne::raw_packet	raw_packet_t
	Raw Velodyne packet.
typedef boost::function< void(const std::vector< laserscan_t > &scan, ros::Time time, const std::string &frame_id)>	scanCallback
	type of callback function to receive laser scans
typedef boost::function< void(const std::vector< laserscan_xyz_t > &scan, ros::Time stamp, const std::string &frame_id)>	xyzCallback
	type of callback function to receive XYZ laser scans
Variables
static const int	BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE)
static const int	BLOCKS_PER_PACKET = 12
static const float	DISTANCE_MAX = 130.0f
static const float	DISTANCE_MAX_UNITS
static const float	DISTANCE_RESOLUTION = 0.002f
static const uint16_t	LOWER_BANK = 0xddff
static const int	PACKET_SIZE = 1206
static const int	PACKET_STATUS_SIZE = 4
static const int	PACKETS_PER_REV = 260
static const int	RAW_SCAN_SIZE = 3
static const float	ROTATION_MAX_UNITS = 36000
static const float	ROTATION_RESOLUTION = 0.01f
static const int	SCANS_PER_BLOCK = 32
static const int	SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET)
static const int	SCANS_PER_REV = (SCANS_PER_PACKET * PACKETS_PER_REV)
static const int	SIZE_BLOCK = 100
static const uint16_t	UPPER_BANK = 0xeeff

---

Typedef Documentation

typedef struct Velodyne::laserscan Velodyne::laserscan_t

A single laser scan in Velodyne's frame of reference.

pitch is relative to the plane of the unit (in its frame of reference): positive is above, negative is below

heading is relative to the front of the unit (the outlet is the back): positive is clockwise (yaw)

typedef struct Velodyne::laserscan_xyz Velodyne::laserscan_xyz_t

a single laser scan in XYZ format

Data are in the Velodyne's frame of reference.

typedef struct Velodyne::raw_block Velodyne::raw_block_t

Raw Velodyne data block.

Each block contains data from either the upper or lower laser bank. The device returns three times as many upper bank blocks.

use stdint.h types, so things work with both 64 and 32-bit machines

typedef struct Velodyne::raw_packet Velodyne::raw_packet_t

Raw Velodyne packet.

revolution is described in the device manual as incrementing (mod 65536) for each physical turn of the device. Our device seems to alternate between two different values every third packet. One value increases, the other decreases.

Todo:

figure out if revolution is only present for one of the two types of status fields

status has either a temperature encoding or the microcode level

typedef boost::function<void(const std::vector<laserscan_t> &scan, ros::Time time, const std::string &frame_id)> Velodyne::scanCallback

type of callback function to receive laser scans

Parameters:

	scan	vector containing the laser scans for a single packet
	time	ROS time stamp of packet
	frame_id	ROS frame ID of packet

Definition at line 54 of file data_scans.h.

typedef boost::function<void(const std::vector<laserscan_xyz_t> &scan, ros::Time stamp, const std::string &frame_id)> Velodyne::xyzCallback

type of callback function to receive XYZ laser scans

Parameters:

	scan	vector containing the XYZ scans for a single packet
	stamp	ROS time stamp of packet
	frame_id	ROS frame ID of packet

Definition at line 49 of file data_xyz.h.

---

Variable Documentation

const int Velodyne::BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE) [static]

Definition at line 42 of file data_base.h.

const int Velodyne::BLOCKS_PER_PACKET = 12 [static]

Definition at line 82 of file data_base.h.

const float Velodyne::DISTANCE_MAX = 130.0f [static]

According to Bruce Hall DISTANCE_MAX is 65.0, but we noticed valid packets with readings up to 130.0. meters

Definition at line 49 of file data_base.h.

const float Velodyne::DISTANCE_MAX_UNITS [static]

Initial value:

 (DISTANCE_MAX
                                           / DISTANCE_RESOLUTION + 1.0)

Definition at line 51 of file data_base.h.

const float Velodyne::DISTANCE_RESOLUTION = 0.002f [static]

meters

Definition at line 50 of file data_base.h.

const uint16_t Velodyne::LOWER_BANK = 0xddff [static]

Definition at line 54 of file data_base.h.

const int Velodyne::PACKET_SIZE = 1206 [static]

Definition at line 81 of file data_base.h.

const int Velodyne::PACKET_STATUS_SIZE = 4 [static]

Definition at line 83 of file data_base.h.

const int Velodyne::PACKETS_PER_REV = 260 [static]

Definition at line 85 of file data_base.h.

const int Velodyne::RAW_SCAN_SIZE = 3 [static]

Definition at line 40 of file data_base.h.

const float Velodyne::ROTATION_MAX_UNITS = 36000 [static]

hundredths of degrees

Definition at line 45 of file data_base.h.

const float Velodyne::ROTATION_RESOLUTION = 0.01f [static]

degrees

Definition at line 44 of file data_base.h.

const int Velodyne::SCANS_PER_BLOCK = 32 [static]

Definition at line 41 of file data_base.h.

const int Velodyne::SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET) [static]

Definition at line 84 of file data_base.h.

const int Velodyne::SCANS_PER_REV = (SCANS_PER_PACKET * PACKETS_PER_REV) [static]

Definition at line 86 of file data_base.h.

const int Velodyne::SIZE_BLOCK = 100 [static]

Raw Velodyne packet constants and structures.

Definition at line 39 of file data_base.h.

const uint16_t Velodyne::UPPER_BANK = 0xeeff [static]

Definition at line 53 of file data_base.h.