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... | |
| class | Input |
| class | InputPCAP |
| Velodyne input from PCAP dump file. More... | |
| class | InputSocket |
| Live Velodyne input from socket. 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 void(* | raw_callback_t )(const raw_packet_t *raw, size_t npackets) |
| type of callback function to receive raw data for one revolution. | |
| typedef struct velodyne::raw_packet | raw_packet_t |
| Raw Velodyne packet. | |
| typedef boost::function< void(const std::vector< laserscan_t > &)> | scanCallback |
| typedef void(* | scans_callback_t )(const std::vector< laserscan_t > &scan) |
| type of callback function to receive laser scans | |
| typedef void(* | xyz_callback_t )(const std::vector< laserscan_xyz_t > &scan) |
| type of callback function to receive XYZ laser scans | |
| typedef boost::function< void(const std::vector< laserscan_xyz_t > &)> | xyzCallback |
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 |
| const int | LASER_RING [N_LASERS] |
| convert laser number to ring sequence (inverse of LASER_SEQUENCE) | |
| const int | LASER_SEQUENCE [N_LASERS] |
| ring sequence for device laser numbers | |
| static const uint16_t | LOWER_BANK = 0xddff |
| const int | N_LASERS = 64 |
| number of lasers | |
| 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 uint16_t | UDP_PORT_NUMBER = 2368 |
| static const uint16_t | UPPER_BANK = 0xeeff |
| 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 void(* velodyne::raw_callback_t)(const raw_packet_t *raw, size_t npackets) |
type of callback function to receive raw data for one revolution.
| raw | -> buffer containing raw packet contents | |
| npackets | number of packets in the buffer |
Use getMsgHeader() to access the ROS message header containing time stamp, sequence number, and frame ID.
| 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.
status has either a temperature encoding or the microcode level
| typedef boost::function<void(const std::vector<laserscan_t> &)> velodyne::scanCallback |
| typedef void(* velodyne::scans_callback_t)(const std::vector< laserscan_t > &scan) |
type of callback function to receive laser scans
| scan | -> vector containing the laser scans for a complete revolution in Velodyne frame of reference. |
Use getMsgHeader() to access the ROS message header containing time stamp, sequence number, and frame ID.
| typedef void(* velodyne::xyz_callback_t)(const std::vector< laserscan_xyz_t > &scan) |
type of callback function to receive XYZ laser scans
| scan | -> vector containing the laser scans for a complete revolution in XYZ format using Velodyne frame of reference. |
Use getMsgHeader() to access the ROS message header containing time stamp, sequence number, and frame ID.
| typedef boost::function<void(const std::vector<laserscan_xyz_t> &)> velodyne::xyzCallback |
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] |
(DISTANCE_MAX / DISTANCE_RESOLUTION + 1.0)
const float velodyne::DISTANCE_RESOLUTION = 0.002f [static] |
| const int velodyne::LASER_RING[N_LASERS] |
{
4, 5, 26, 27, 6, 7, 0, 1,
8, 9, 2, 3, 16, 17, 10, 11,
18, 19, 12, 13, 20, 21, 14, 15,
28, 29, 22, 23, 30, 31, 24, 25,
36, 37, 58, 59, 38, 39, 32, 33,
40, 41, 34, 35, 48, 49, 42, 43,
50, 51, 44, 45, 52, 53, 46, 47,
60, 61, 54, 55, 62, 63, 56, 57
}
convert laser number to ring sequence (inverse of LASER_SEQUENCE)
Definition at line 40 of file ring_sequence.h.
| const int velodyne::LASER_SEQUENCE[N_LASERS] |
{
6, 7, 10, 11, 0, 1, 4, 5,
8, 9, 14, 15, 18, 19, 22, 23,
12, 13, 16, 17, 20, 21, 26, 27,
30, 31, 2, 3, 24, 25, 28, 29,
38, 39, 42, 43, 32, 33, 36, 37,
40, 41, 46, 47, 50, 51, 54, 55,
44, 45, 48, 49, 52, 53, 58, 59,
62, 63, 34, 35, 56, 57, 60, 61
}
ring sequence for device laser numbers
Definition at line 27 of file ring_sequence.h.
const uint16_t velodyne::LOWER_BANK = 0xddff [static] |
| const int velodyne::N_LASERS = 64 |
number of lasers
Definition at line 24 of file ring_sequence.h.
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] |
uint16_t velodyne::UDP_PORT_NUMBER = 2368 [static] |
const uint16_t velodyne::UPPER_BANK = 0xeeff [static] |