mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket Struct Reference

Detailed Description

One unit of data from the scanner (the payload of one UDP DATA packet)

Definition at line 158 of file CObservationVelodyneScan.h.

#include <mrpt/obs/CObservationVelodyneScan.h>

Public Member Functions
uint32_t	gps_timestamp () const

Public Attributes
raw_block_t	blocks [BLOCKS_PER_PACKET]
uint8_t	laser_return_mode
	0x37: strongest, 0x38: last, 0x39: dual return More...
uint8_t	velodyne_model_ID
	0x21: HDL-32E, 0x22: VLP-16 More...

Private Attributes
uint32_t	m_gps_timestamp
	us from top of hour More...

Member Function Documentation

gps_timestamp()

uint32_t mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::gps_timestamp ( ) const

inline

Definition at line 173 of file CObservationVelodyneScan.h.

References m_gps_timestamp, and mrpt::toNativeEndianness().

Referenced by mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), and velodyne_scan_to_pointcloud().

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Member Data Documentation

blocks

raw_block_t mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::blocks[BLOCKS_PER_PACKET]

Definition at line 161 of file CObservationVelodyneScan.h.

Referenced by mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), and velodyne_scan_to_pointcloud().

laser_return_mode

uint8_t mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::laser_return_mode

0x37: strongest, 0x38: last, 0x39: dual return

Definition at line 169 of file CObservationVelodyneScan.h.

Referenced by velodyne_scan_to_pointcloud().

m_gps_timestamp

uint32_t mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::m_gps_timestamp

private

us from top of hour

Definition at line 165 of file CObservationVelodyneScan.h.

Referenced by gps_timestamp().

velodyne_model_ID

uint8_t mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket::velodyne_model_ID

0x21: HDL-32E, 0x22: VLP-16

Definition at line 171 of file CObservationVelodyneScan.h.