Detailed Description
Defines the properties of the lidar.
Definition at line 194 of file LidarTypes.h.
Data Fields | |
| char8_t | deviceString [256] |
| ASCII string identifying the device. More... | |
| float32_t | spinFrequency |
| Current spin frequency, in HZ. More... | |
| uint32_t | packetsPerSecond |
| Number of packets per second the sensor produces. More... | |
| uint32_t | packetsPerSpin |
| Number of packets per sensor full spin. More... | |
| uint32_t | pointsPerSecond |
| Number of points per second the sensor provides. More... | |
| uint32_t | pointsPerPacket |
| Maximum number of points in a packet. More... | |
| uint32_t | pointsPerSpin |
| Maximum number of points on a full sensor spin. More... | |
| uint32_t | pointStride |
| Number of 'float32' elements between points and points which lidar send. More... | |
| float32_t | horizontalFOVStart |
| Lidar right-handed polar coord system, start angle in planar direction, in rads. More... | |
| float32_t | horizontalFOVEnd |
| Lidar right-handed polar coord system, end angle in planar direction, in rads. More... | |
| uint32_t | numberOfRows |
| Number of Rows in a spin Frame. More... | |
| float32_t | verticalFOVStart |
| Lidar right-handed polar coord system, start angle in vertical direction, in rads. More... | |
| float32_t | verticalFOVEnd |
| Lidar right-handed polar coord system, end angle in vertical direction, in rads. More... | |
| float32_t | verticalAngles [DW_SENSORS_LIDAR_MAX_ROWS] |
| Lidar right-handed polar coord system, vertical angles in spin frame, in rads, length of array with valid values is defined by 'numberOfRows' above. More... | |
| float32_t | horizontalAngles [DW_SENSORS_LIDAR_MAX_ROWS] |
| Lidar right-handed polar coord system, intrinsic horizontal angle offsets in spin frame, in rads, length of array with valid values is defined by 'numberOfRows' above. More... | |
| dwLidarReturnType | availableReturns |
| Bitmask of return types the lidar is configured to. More... | |
| uint64_t | validAuxInfos |
| Bitmask of valid aux info fields based on enum dwLidarAuxDataType. More... | |
| size_t | lidarSSISizeInBytes |
| LidarSSI size in bytes, so user know the memory to be allocated for dwLidarDecodedPacket.lidarSSI. More... | |
| dwSensorInformation | sensorInfo |
| Structure holding sensor information including firmware version and serial number etc. More... | |
| uint32_t | numberScanPatterns |
| For each sensor a mapping of scan patterns will be provided offline if there is more than one. More... | |
| dwLidarScanPattern const * | scanPatterns |
| The size of scan pattern array is equal to numberScanPatterns. More... | |
Field Documentation
◆ availableReturns
| dwLidarReturnType dwLidarProperties::availableReturns |
Bitmask of return types the lidar is configured to.
Definition at line 228 of file LidarTypes.h.
◆ deviceString
| char8_t dwLidarProperties::deviceString[256] |
ASCII string identifying the device.
Definition at line 196 of file LidarTypes.h.
◆ horizontalAngles
| float32_t dwLidarProperties::horizontalAngles[DW_SENSORS_LIDAR_MAX_ROWS] |
Lidar right-handed polar coord system, intrinsic horizontal angle offsets in spin frame, in rads, length of array with valid values is defined by 'numberOfRows' above.
Definition at line 225 of file LidarTypes.h.
◆ horizontalFOVEnd
| float32_t dwLidarProperties::horizontalFOVEnd |
Lidar right-handed polar coord system, end angle in planar direction, in rads.
Definition at line 209 of file LidarTypes.h.
◆ horizontalFOVStart
| float32_t dwLidarProperties::horizontalFOVStart |
Lidar right-handed polar coord system, start angle in planar direction, in rads.
Definition at line 208 of file LidarTypes.h.
◆ lidarSSISizeInBytes
| size_t dwLidarProperties::lidarSSISizeInBytes |
LidarSSI size in bytes, so user know the memory to be allocated for dwLidarDecodedPacket.lidarSSI.
Definition at line 234 of file LidarTypes.h.
◆ numberOfRows
| uint32_t dwLidarProperties::numberOfRows |
Number of Rows in a spin Frame.
Definition at line 211 of file LidarTypes.h.
◆ numberScanPatterns
| uint32_t dwLidarProperties::numberScanPatterns |
For each sensor a mapping of scan patterns will be provided offline if there is more than one.
Definition at line 240 of file LidarTypes.h.
◆ packetsPerSecond
| uint32_t dwLidarProperties::packetsPerSecond |
Number of packets per second the sensor produces.
Definition at line 200 of file LidarTypes.h.
◆ packetsPerSpin
| uint32_t dwLidarProperties::packetsPerSpin |
Number of packets per sensor full spin.
Definition at line 201 of file LidarTypes.h.
◆ pointsPerPacket
| uint32_t dwLidarProperties::pointsPerPacket |
Maximum number of points in a packet.
Definition at line 204 of file LidarTypes.h.
◆ pointsPerSecond
| uint32_t dwLidarProperties::pointsPerSecond |
Number of points per second the sensor provides.
Definition at line 203 of file LidarTypes.h.
◆ pointsPerSpin
| uint32_t dwLidarProperties::pointsPerSpin |
Maximum number of points on a full sensor spin.
Definition at line 205 of file LidarTypes.h.
◆ pointStride
| uint32_t dwLidarProperties::pointStride |
Number of 'float32' elements between points and points which lidar send.
Definition at line 206 of file LidarTypes.h.
◆ scanPatterns
| dwLidarScanPattern const* dwLidarProperties::scanPatterns |
The size of scan pattern array is equal to numberScanPatterns.
Definition at line 243 of file LidarTypes.h.
◆ sensorInfo
| dwSensorInformation dwLidarProperties::sensorInfo |
Structure holding sensor information including firmware version and serial number etc.
Definition at line 237 of file LidarTypes.h.
◆ spinFrequency
| float32_t dwLidarProperties::spinFrequency |
Current spin frequency, in HZ.
Definition at line 198 of file LidarTypes.h.
◆ validAuxInfos
| uint64_t dwLidarProperties::validAuxInfos |
Bitmask of valid aux info fields based on enum dwLidarAuxDataType.
Definition at line 231 of file LidarTypes.h.
◆ verticalAngles
| float32_t dwLidarProperties::verticalAngles[DW_SENSORS_LIDAR_MAX_ROWS] |
Lidar right-handed polar coord system, vertical angles in spin frame, in rads, length of array with valid values is defined by 'numberOfRows' above.
Definition at line 220 of file LidarTypes.h.
◆ verticalFOVEnd
| float32_t dwLidarProperties::verticalFOVEnd |
Lidar right-handed polar coord system, end angle in vertical direction, in rads.
Definition at line 214 of file LidarTypes.h.
◆ verticalFOVStart
| float32_t dwLidarProperties::verticalFOVStart |
Lidar right-handed polar coord system, start angle in vertical direction, in rads.
Definition at line 213 of file LidarTypes.h.
The documentation for this struct was generated from the following file: