Classes | |
| struct | raw_block |
| Raw rslidar data block. More... | |
| struct | raw_packet |
| Raw Rsldar packet. More... | |
| class | RawData |
| RSLIDAR data conversion class. More... | |
| union | two_bytes |
Typedefs | |
| typedef struct rslidar_rawdata::raw_block | raw_block_t |
| Raw rslidar data block. More... | |
| typedef struct rslidar_rawdata::raw_packet | raw_packet_t |
| Raw Rsldar packet. More... | |
Variables | |
| float | aIntensityCal [7][32] |
| float | aIntensityCal_old [1600][32] |
| static const int | BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE) |
| static const int | BLOCKS_PER_PACKET = 12 |
| bool | Curvesis_new = true |
| float | CurvesRate [32] |
| static const float | DISTANCE_MAX = 200.0f |
| static const float | DISTANCE_MAX_UNITS = (DISTANCE_MAX / DISTANCE_RESOLUTION + 1.0f) |
| static const float | DISTANCE_MIN = 0.2f |
| static const float | DISTANCE_RESOLUTION = 0.01f |
| static const float | DISTANCE_RESOLUTION_NEW = 0.005f |
| int | g_ChannelNum [32][51] |
| float | HORI_ANGLE [32] |
| static const uint16_t | LOWER_BANK = 0xddff |
| int | numOfLasers = 16 |
| static const int | PACKET_SIZE = 1248 |
| static const int | PACKET_STATUS_SIZE = 4 |
| static const int | RAW_SCAN_SIZE = 3 |
| static const float | RL32_FIRING_TOFFSET = 50.0f |
| static const uint16_t | ROTATION_MAX_UNITS = 36000 |
| static const float | ROTATION_RESOLUTION = 0.01f |
| static const float | RS16_BLOCK_TDURATION = 100.0f |
| static const float | RS16_DSR_TOFFSET = 3.0f |
| static const float | RS16_FIRING_TOFFSET = 50.0f |
| static const int | RS16_FIRINGS_PER_BLOCK = 2 |
| static const int | RS16_SCANS_PER_FIRING = 16 |
| static const float | RS32_BLOCK_TDURATION = 50.0f |
| static const float | RS32_DSR_TOFFSET = 3.0f |
| static const int | RS32_FIRINGS_PER_BLOCK = 1 |
| static const int | RS32_SCANS_PER_FIRING = 32 |
| static const int | SCANS_PER_BLOCK = 32 |
| static const int | SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET) |
| static const int | SIZE_BLOCK = 100 |
| float | temper = 31.0 |
| static const int | TEMPERATURE_MIN = 31 |
| int | TEMPERATURE_RANGE = 40 |
| int | tempPacketNum = 0 |
| static const uint16_t | UPPER_BANK = 0xeeff |
| float | VERT_ANGLE [32] |
| typedef struct rslidar_rawdata::raw_block rslidar_rawdata::raw_block_t |
Raw rslidar 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 rslidar_rawdata::raw_packet rslidar_rawdata::raw_packet_t |
Raw Rsldar 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
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