velodyne_driver: ring_sequence.h Source File

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00001 /* -*- mode: C++ -*-
00002  *
00003  *  Copyright (C) 2010 Austin Robot Technology, Jack O'Quin
00004  *
00005  *  License: Modified BSD Software License Agreement
00006  *
00007  *  $Id$
00008  */
00009 
00018 #ifndef __VELODYNE_RING_SEQUENCE_H
00019 #define __VELODYNE_RING_SEQUENCE_H
00020 
00021 namespace velodyne
00022 {
00024   const int N_LASERS = 64;
00025 
00027   const int LASER_SEQUENCE[N_LASERS] =
00028     {
00029       6,  7, 10, 11,  0,  1,  4,  5,
00030       8,  9, 14, 15, 18, 19, 22, 23,
00031      12, 13, 16, 17, 20, 21, 26, 27,
00032      30, 31,  2,  3, 24, 25, 28, 29,
00033      38, 39, 42, 43, 32, 33, 36, 37,
00034      40, 41, 46, 47, 50, 51, 54, 55,
00035      44, 45, 48, 49, 52, 53, 58, 59,
00036      62, 63, 34, 35, 56, 57, 60, 61
00037     };
00038 
00040   const int LASER_RING[N_LASERS] =
00041     {
00042        4,  5, 26, 27,  6,  7,  0,  1,
00043        8,  9,  2,  3, 16, 17, 10, 11,
00044       18, 19, 12, 13, 20, 21, 14, 15,
00045       28, 29, 22, 23, 30, 31, 24, 25,
00046       36, 37, 58, 59, 38, 39, 32, 33,
00047       40, 41, 34, 35, 48, 49, 42, 43,
00048       50, 51, 44, 45, 52, 53, 46, 47,
00049       60, 61, 54, 55, 62, 63, 56, 57
00050     };
00051 
00052 } // velodyne namespace
00053 
00054 #endif // __VELODYNE_RING_SEQUENCE_H