MRPT  1.9.9
List of all members | Public Member Functions | Public Attributes | Private Attributes
mrpt::obs::CObservationVelodyneScan::raw_block_t Struct Reference

Detailed Description

Raw Velodyne data block.

Each block contains data from either the upper or lower laser bank. The device returns three times as many upper bank blocks.

Definition at line 138 of file CObservationVelodyneScan.h.

#include <mrpt/obs/CObservationVelodyneScan.h>

Public Member Functions

uint16_t header () const
 
uint16_t rotation () const
 

Public Attributes

laser_return_t laser_returns [SCANS_PER_BLOCK]
 

Private Attributes

uint16_t m_header
 Block id: UPPER_BANK or LOWER_BANK. More...
 
uint16_t m_rotation
 0-35999, divide by 100 to get degrees More...
 

Member Function Documentation

◆ header()

uint16_t mrpt::obs::CObservationVelodyneScan::raw_block_t::header ( ) const
inline

Definition at line 146 of file CObservationVelodyneScan.h.

References m_header, and mrpt::toNativeEndianness().

Referenced by velodyne_scan_to_pointcloud().

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◆ rotation()

uint16_t mrpt::obs::CObservationVelodyneScan::raw_block_t::rotation ( ) const
inline

Definition at line 150 of file CObservationVelodyneScan.h.

References m_rotation, and mrpt::toNativeEndianness().

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

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Member Data Documentation

◆ laser_returns

laser_return_t mrpt::obs::CObservationVelodyneScan::raw_block_t::laser_returns[SCANS_PER_BLOCK]

Definition at line 144 of file CObservationVelodyneScan.h.

Referenced by velodyne_scan_to_pointcloud().

◆ m_header

uint16_t mrpt::obs::CObservationVelodyneScan::raw_block_t::m_header
private

Block id: UPPER_BANK or LOWER_BANK.

Definition at line 141 of file CObservationVelodyneScan.h.

Referenced by header().

◆ m_rotation

uint16_t mrpt::obs::CObservationVelodyneScan::raw_block_t::m_rotation
private

0-35999, divide by 100 to get degrees

Definition at line 142 of file CObservationVelodyneScan.h.

Referenced by rotation().




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