struct mrpt::obs::CObservationVelodyneScan::TVelodynePositionPacket

Payload of one POSITION packet.

#include <mrpt/obs/CObservationVelodyneScan.h>

struct TVelodynePositionPacket
{
    //
fields

    char unused1[198];
    char NMEA_GPRMC[72+234];

    //
methods

    uint32_t gps_timestamp() const;
    uint32_t unused2() const;
};

Fields

char NMEA_GPRMC[72+234]

the full $GPRMC message, as received by Velodyne, terminated with “rn0”