rslidar_sdk: Jazzy
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C++ API
Full C++ API
Namespaces
Namespace robosense
Namespace robosense::lidar
Namespace ros
Namespace ros::message_operations
Namespace ros::message_traits
Namespace ros::serialization
Namespace rscamera_msg
Namespace rslidar_msg
Namespace rslidar_msgs
Classes and Structs
Struct PointXYZI
Struct PointXYZIF
Struct PointXYZIRT
Struct PointXYZIRTF
Struct AdapterDifopPkt
Struct DeviceInfo
Struct DeviceStatus
Struct Error
Struct ImuData
Struct iphdr
Struct Packet
Struct RRSM3DifopPkt
Struct RS128DifopPkt
Struct RS128MsopBlock
Struct RS128MsopPkt
Struct RS16DifopPkt
Struct RS16MsopBlock
Struct RS16MsopPkt
Struct RS32DifopPkt
Struct RS32MsopBlock
Struct RS32MsopPkt
Struct RS80DifopPkt
Struct RS80MsopBlock
Struct RS80MsopPkt
Struct RSAIRYChannel
Struct RSAIRYDifopPkt
Struct RSAIRYHeader
Struct RSAIRYImuPkt
Struct RSAIRYMsopBlock
Struct RSAIRYMsopPkt
Struct RSAIRYStatus
Struct RSBPDifopPkt
Struct RSBPMsopBlock
Struct RSBPMsopPkt
Struct RSCalibrationAngle
Struct RSChannel
Struct RSDecoderConstParam
Struct RSDecoderMechConstParam
Struct RSDecoderParam
Struct RSDiagnoV1
Struct RSDiagnoV2
Struct RSDriverParam
Struct RSE1DifopPkt
Struct RSEMXBlock
Struct RSEMXChannel
Struct RSEMXDifop2_1Pkt
Struct RSEMXDifop2_2Pkt
Struct RSEMXDifop2_3Pkt
Struct RSEMXDifop2_4Pkt
Struct RSEMXDifopEther
Struct RSEMXFaults
Struct RSEMXMsopHeader
Struct RSEMXMsopPkt
Struct RSEOSBlock
Struct RSEOSChannel
Struct RSEOSMsopHeader
Struct RSEOSMsopPkt
Struct RSEthNetV1
Struct RSEthNetV2
Struct RSFAIRYChannel
Struct RSFAIRYDifopPkt
Struct RSFAIRYHeader
Struct RSFAIRYImuPkt
Struct RSFAIRYMsopBlock
Struct RSFAIRYMsopPkt
Struct RSFAIRYStatus
Struct RSFOV
Struct RSHELIOSDifopPkt
Struct RSHELIOSMsopBlock
Struct RSHELIOSMsopHeader
Struct RSHELIOSMsopPkt
Struct RSInputParam
Struct RSM1_Jumbo
Struct RSM1_Jumbo_Block
Struct RSM1_Jumbo_Channel
Struct RSM1_Jumbo_MsopPkt
Struct RSM1Block
Struct RSM1Channel
Struct RSM1DifopCalibration
Struct RSM1DifopEther
Struct RSM1DifopFov
Struct RSM1DifopPkt
Struct RSM1DifopRunSts
Struct RSM1DifopVerInfo
Struct RSM1MsopHeader
Struct RSM1MsopPkt
Struct RSM2Block
Struct RSM2Channel
Struct RSM2MsopHeader
Struct RSM2MsopPkt
Struct RSM3Block
Struct RSM3Channel
Struct RSM3MsopPkt
Struct RSMsopHeaderV1
Struct RSMsopHeaderV2
Struct RSMXBlock
Struct RSMXChannel
Struct RSMXDifopPkt
Struct RSMXMsopHeader
Struct RSMXMsopPkt
Struct RSP128DifopPkt
Struct RSP128MsopBlock
Struct RSP128MsopPkt
Struct RSP48DifopPkt
Struct RSP48MsopBlock
Struct RSP48MsopPkt
Struct RSP80DifopPkt
Struct RSP80MsopBlock
Struct RSP80MsopPkt
Struct RSSN
Struct RSStatusV1
Struct RSStatusV2
Struct RSTemperature
Struct RSTimeInfo
Struct RSTimestampUTC
Struct RSTimestampYMD
Struct RSTransformParam
Struct RSVersionV1
Struct RSVersionV2
Struct udphdr
Template Struct Printer< ::rscamera_msg::RsCompressedImage_< ContainerAllocator > >
Template Struct Printer< ::rslidar_msg::RslidarPacket_< ContainerAllocator > >
Template Struct Printer< ::rslidar_msgs::rslidarPacket_< ContainerAllocator > >
Template Struct Printer< ::rslidar_msgs::rslidarScan_< ContainerAllocator > >
Template Struct DataType< ::rscamera_msg::RsCompressedImage_< ContainerAllocator > >
Template Struct DataType< ::rslidar_msg::RslidarPacket_< ContainerAllocator > >
Template Struct DataType< ::rslidar_msgs::rslidarPacket_< ContainerAllocator > >
Template Struct DataType< ::rslidar_msgs::rslidarScan_< ContainerAllocator > >
Template Struct Definition< ::rscamera_msg::RsCompressedImage_< ContainerAllocator > >
Template Struct Definition< ::rslidar_msg::RslidarPacket_< ContainerAllocator > >
Template Struct Definition< ::rslidar_msgs::rslidarPacket_< ContainerAllocator > >
Template Struct Definition< ::rslidar_msgs::rslidarScan_< ContainerAllocator > >
Template Struct HasHeader< ::rscamera_msg::RsCompressedImage_< ContainerAllocator > >
Template Struct HasHeader< ::rscamera_msg::RsCompressedImage_< ContainerAllocator >, const >
Template Struct HasHeader< ::rslidar_msg::RslidarPacket_< ContainerAllocator > >
Template Struct HasHeader< ::rslidar_msg::RslidarPacket_< ContainerAllocator >, const >
Template Struct HasHeader< ::rslidar_msgs::rslidarPacket_< ContainerAllocator > >
Template Struct HasHeader< ::rslidar_msgs::rslidarPacket_< ContainerAllocator >, const >
Template Struct HasHeader< ::rslidar_msgs::rslidarScan_< ContainerAllocator > >
Template Struct HasHeader< ::rslidar_msgs::rslidarScan_< ContainerAllocator >, const >
Template Struct IsFixedSize< ::rscamera_msg::RsCompressedImage_< ContainerAllocator > >
Template Struct IsFixedSize< ::rscamera_msg::RsCompressedImage_< ContainerAllocator >, const >
Template Struct IsFixedSize< ::rslidar_msg::RslidarPacket_< ContainerAllocator > >
Template Struct IsFixedSize< ::rslidar_msg::RslidarPacket_< ContainerAllocator >, const >
Template Struct IsFixedSize< ::rslidar_msgs::rslidarPacket_< ContainerAllocator > >
Template Struct IsFixedSize< ::rslidar_msgs::rslidarPacket_< ContainerAllocator >, const >
Template Struct IsFixedSize< ::rslidar_msgs::rslidarScan_< ContainerAllocator > >
Template Struct IsFixedSize< ::rslidar_msgs::rslidarScan_< ContainerAllocator >, const >
Template Struct IsMessage< ::rscamera_msg::RsCompressedImage_< ContainerAllocator > >
Template Struct IsMessage< ::rscamera_msg::RsCompressedImage_< ContainerAllocator >, const >
Template Struct IsMessage< ::rslidar_msg::RslidarPacket_< ContainerAllocator > >
Template Struct IsMessage< ::rslidar_msg::RslidarPacket_< ContainerAllocator >, const >
Template Struct IsMessage< ::rslidar_msgs::rslidarPacket_< ContainerAllocator > >
Template Struct IsMessage< ::rslidar_msgs::rslidarPacket_< ContainerAllocator >, const >
Template Struct IsMessage< ::rslidar_msgs::rslidarScan_< ContainerAllocator > >
Template Struct IsMessage< ::rslidar_msgs::rslidarScan_< ContainerAllocator >, const >
Template Struct MD5Sum< ::rscamera_msg::RsCompressedImage_< ContainerAllocator > >
Template Struct MD5Sum< ::rslidar_msg::RslidarPacket_< ContainerAllocator > >
Template Struct MD5Sum< ::rslidar_msgs::rslidarPacket_< ContainerAllocator > >
Template Struct MD5Sum< ::rslidar_msgs::rslidarScan_< ContainerAllocator > >
Template Struct Serializer< ::rscamera_msg::RsCompressedImage_< ContainerAllocator > >
Template Struct Serializer< ::rslidar_msg::RslidarPacket_< ContainerAllocator > >
Template Struct Serializer< ::rslidar_msgs::rslidarPacket_< ContainerAllocator > >
Template Struct Serializer< ::rslidar_msgs::rslidarScan_< ContainerAllocator > >
Template Struct RsCompressedImage_
Template Struct RslidarPacket_
Template Struct rslidarPacket_
Template Struct rslidarScan_
Template Class PointCloudT
Template Class ABDualReturnBlockIterator
Class AzimuthSection
Template Class BlockIterator
Class Buffer
Class ChanAngles
Template Class Decoder
Template Class DecoderFactory
Template Class DecoderMech
Template Class DecoderRS128
Template Class DecoderRS16
Template Class DecoderRS32
Template Class DecoderRS48
Template Class DecoderRS80
Template Class DecoderRSAIRY
Template Class DecoderRSBP
Template Class DecoderRSE1
Template Class DecoderRSEMX
Template Class DecoderRSFAIRY
Template Class DecoderRSHELIOS
Template Class DecoderRSHELIOS_16P
Template Class DecoderRSM1
Template Class DecoderRSM1_Jumbo
Template Class DecoderRSM2
Template Class DecoderRSM3
Template Class DecoderRSMX
Template Class DecoderRSP128
Template Class DecoderRSP48
Template Class DecoderRSP80
Class DestinationPacket
Class DestinationPointCloud
Class DistanceSection
Template Class DualReturnBlockIterator
Template Class FourInOneBlockIterator
Class Input
Class InputFactory
Class InputPcap
Class InputPcapJumbo
Class InputRaw
Class InputRawJumbo
Class InputSock
Class InputSockJumbo
Class Jumbo
Template Class LidarDriver
Template Class LidarDriverImpl
Class NodeManager
Template Class Rs16DualReturnBlockIterator
Template Class Rs16SingleReturnBlockIterator
Template Class SingleReturnBlockIterator
Class Source
Class SourceDriver
Class SplitStrategy
Class SplitStrategyByAngle
Class SplitStrategyByNum
Class SplitStrategyBySeq
Template Class SyncQueue
Class Trigon
Template Class TwoInOneBlockIterator
Enums
Enum ErrCode
Enum ErrCodeType
Enum InputType
Enum LidarType
Enum RSAIRYLidarModel
Enum RSEchoMode
Enum RSFAIRYModel
Enum SourceType
Enum SplitFrameMode
Functions
Function robosense::lidar::calcCrc32
Function robosense::lidar::convertUint32ToFloat
Function robosense::lidar::createTimeUTCWithNs
Function robosense::lidar::createTimeUTCWithUs
Function robosense::lidar::createTimeYMD
Function robosense::lidar::getDriverVersion
Function robosense::lidar::getTimeHost
Function robosense::lidar::getTimeHostWithNs
Function robosense::lidar::hexdump
Function robosense::lidar::inputTypeToStr
Function robosense::lidar::isCrc32Correct
Function robosense::lidar::isJumbo
Function robosense::lidar::isMech
Function robosense::lidar::isMems
Function robosense::lidar::lidarTypeToStr
Function robosense::lidar::parseTempInBe
Function robosense::lidar::parseTempInLe
Function robosense::lidar::parseTimeUTCWithNs
Function robosense::lidar::parseTimeUTCWithUs
Function robosense::lidar::parseTimeYMD
Function robosense::lidar::RS16DifopPkt2Adapter
Function robosense::lidar::RS32DifopPkt2Adapter
Function robosense::lidar::RS_SWAP_INT16
Function robosense::lidar::strToLidarType
Function robosense::lidar::u8ArrayToInt32
Template Function robosense::lidar::yamlRead
Template Function robosense::lidar::yamlReadAbort
Function robosense::lidar::yamlSubNodeAbort
Function RS_INT8
Function RS_SWAP_INT16
Template Function rscamera_msg::operator!=
Template Function rscamera_msg::operator<<
Template Function rscamera_msg::operator==
Template Function rslidar_msg::operator!=
Template Function rslidar_msg::operator<<
Template Function rslidar_msg::operator==
Template Function rslidar_msgs::operator<<(std::ostream&, const ::rslidar_msgs::rslidarPacket_<ContainerAllocator>&)
Template Function rslidar_msgs::operator<<(std::ostream&, const ::rslidar_msgs::rslidarScan_<ContainerAllocator>&)
Template Function setFeature(T_Point&, const uint8_t&)
Template Function setFeature(T_Point&, const uint8_t&)
Template Function setIntensity(T_Point&, const uint8_t&)
Template Function setIntensity(T_Point&, const uint8_t&)
Template Function setRing(T_Point&, const uint16_t&)
Template Function setRing(T_Point&, const uint16_t&)
Template Function setTimestamp(T_Point&, const double&)
Template Function setTimestamp(T_Point&, const double&)
Template Function setX(T_Point&, const float&)
Template Function setX(T_Point&, const float&)
Template Function setY(T_Point&, const float&)
Template Function setY(T_Point&, const float&)
Template Function setZ(T_Point&, const float&)
Template Function setZ(T_Point&, const float&)
Variables
Variable EIGEN_ALIGN16
Defines
Define _USE_MATH_DEFINES
Define _USE_MATH_DEFINES
Define COS
Define COS_FINE
Define DEFINE_MEMBER_CHECKER
Define DEGREE_TO_RADIAN
Define DELAY_LIMIT_CALL
Define EMX_PIXELS_PER_COLUMN
Define EMX_PIXELS_PER_VCSEL
Define EMX_SURFACE_NUM
Define EMX_VECSELS_PER_COLUMN
Define ETH_HDR_LEN
Define ETH_LEN
Define INIT_ONLY_ONCE
Define IP_LEN
Define LIMIT_CALL
Define MAX_POINT_CLOUD_SIZE
Define MORE_FRAGS
Define RADIAN_TO_DEGREE
Define RS_DEBUG
Define RS_ERROR
Define RS_HAS_MEMBER
Define RS_INFO
Define RS_INFOL
Define RS_MSG
Define RS_REND
Define RS_TITLE
Define RS_WARNING
Define RSLIDAR_VERSION_MAJOR
Define RSLIDAR_VERSION_MINOR
Define RSLIDAR_VERSION_PATCH
Define SIN
Define SIN_FINE
Define UDP_HDR_LEN
Define VLAN_HDR_LEN
Typedefs
Typedef PointXYZI
Typedef rscamera_msg::RsCompressedImage
Typedef rscamera_msg::RsCompressedImageConstPtr
Typedef rscamera_msg::RsCompressedImagePtr
Typedef rslidar_msg::RslidarPacket
Typedef rslidar_msg::RslidarPacketConstPtr
Typedef rslidar_msg::RslidarPacketPtr
Typedef rslidar_msgs::rslidarPacket
Typedef rslidar_msgs::rslidarPacketConstPtr
Typedef rslidar_msgs::rslidarPacketPtr
Typedef rslidar_msgs::rslidarScan
Typedef rslidar_msgs::rslidarScanConstPtr
Typedef rslidar_msgs::rslidarScanPtr
Directories
Directory src
Directory manager
Directory msg
Directory ros_msg
Directory rs_msg
Directory rs_driver
Directory src
Directory rs_driver
Directory api
Directory common
Directory driver
Directory decoder
Directory input
Directory unix
Directory win
Directory macro
Directory msg
Directory utility
Directory source
Directory utility
Files
File basic_attr.hpp
File block_iterator.hpp
File buffer.hpp
File chan_angles.hpp
File common.hpp
File dbg.hpp
File decoder.hpp
File decoder_factory.hpp
File decoder_mech.hpp
File decoder_RS128.hpp
File decoder_RS16.hpp
File decoder_RS32.hpp
File decoder_RS48.hpp
File decoder_RS80.hpp
File decoder_RSAIRY.hpp
File decoder_RSBP.hpp
File decoder_RSE1.hpp
File decoder_RSEMX.hpp
File decoder_RSFAIRY.hpp
File decoder_RSHELIOS.hpp
File decoder_RSHELIOS_16P.hpp
File decoder_RSM1.hpp
File decoder_RSM1_Jumbo.hpp
File decoder_RSM2.hpp
File decoder_RSM3.hpp
File decoder_RSMX.hpp
File decoder_RSP128.hpp
File decoder_RSP48.hpp
File decoder_RSP80.hpp
File driver_param.hpp
File error_code.hpp
File imu_data_msg.hpp
File input.hpp
File input_factory.hpp
File input_pcap.hpp
File input_pcap_jumbo.hpp
File input_raw.hpp
File input_raw_jumbo.hpp
File input_sock.hpp
File input_sock_epoll.hpp
File input_sock_jumbo.hpp
File input_sock_select.hpp
File input_sock_select.hpp
File jumbo.hpp
File lidar_driver.hpp
File lidar_driver_impl.hpp
File lidar_point_cloud_msg.hpp
File member_checker.hpp
File node_manager.hpp
File packet.hpp
File pcl_point_cloud_msg.hpp
File point_cloud_msg.hpp
File qnx_recvmmsg.hpp
File rs_common.hpp
File rs_compressed_image.hpp
File rs_log.hpp
File rslidar_packet.hpp
File rslidar_packet_legacy.hpp
File rslidar_scan_legacy.hpp
File section.hpp
File source.hpp
File source_driver.hpp
File source_packet_ros.hpp
File source_pointcloud_ros.hpp
File split_strategy.hpp
File sync_queue.hpp
File trigon.hpp
File version.hpp
File yaml_reader.hpp
Standard Documents
README
1
rslidar_sdk
1 Introduction
2 Download
3 Dependencies
4 Compile & Run
5 Introduction to parameters
6 Quick start
7 Advanced Topics
LICENSE
PACKAGE
CHANGELOG
CHANGELOG
v1.5.19 2026-04-03
v1.5.18 2025-07-15
v1.5.17 2025-02-14
v1.5.16 2024-08-27
v1.5.15 2024-08-07
v1.5.14 2024-07-15
v1.5.13 2024-05-10
v1.5.12 2023-12-28
v1.5.11 2023-12-18
v1.5.10 - 2023-02-17
v1.5.9 - 2023-02-17
v1.5.8 - 2022-12-09
v1.5.7 - 2022-10-09
v1.5.6 - 2022-09-01
v1.5.5 - 2022-08-01
v1.5.4 - 2022-07-01
v1.5.3 - 2022-06-01
v1.5.0
v1.3.0 - 2020-11-10
v1.2.1 - 2020-09-04
v1.2.0 - 2020-09-01
v1.1.0 - 2020-07-01
v1.0.0 - 2020-06-01
ROS Package Dependencies
pcl_ros
rclcpp
rslidar_msg
sensor_msgs
std_msgs
Documentation
src_intro/
rslidar_sdk v1.5.19 源代码解析
howto/
4 如何与rslidar_sdk_node v1.3.x共存？
5 How to change point type
5 如何改变点类型的定义
6 How to decode on-line LiDAR
6 如何连接在线雷达
7 Online LiDAR - Advanced Topics
7 在线雷达 - 高级主题
8 How to decode PCAP file
8 如何解码PCAP文件
9 PCAP File - Advanced Topics
9 PCAP文件 - 高级主题
10 How to use coordinate transformation
10 如何使用坐标变换功能
11 How to record and replay Packet rosbag
11 如何录制与回放 Packet rosbag
12 How to create deb
13 How to solve ROS2_humble frame rate drop
13 如何解决ROS2_humble帧率下降
intro/
2 Introduction to Parameters
2 参数介绍
3 Introduction to hidden parameters
3 隐藏参数介绍
Index
rslidar_sdk: Jazzy
C++ API
Enum RSFAIRYModel
View page source
Enum RSFAIRYModel
Defined in
File decoder_RSFAIRY.hpp
Enum Documentation
enum
robosense
::
lidar
::
RSFAIRYModel
Values:
enumerator
RSFAIRY_CHANNEL_48
enumerator
RSFAIRY_CHANNEL_96