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 123 of file CObservationVelodyneScan.h.

#include <mrpt/obs/CObservationVelodyneScan.h>

Public Attributes
uint16_t	header
	Block id: UPPER_BANK or LOWER_BANK. More...
uint16_t	rotation
	0-35999, divide by 100 to get degrees More...
laser_return_t	laser_returns [SCANS_PER_BLOCK]

Member Data Documentation

header

uint16_t mrpt::obs::CObservationVelodyneScan::raw_block_t::header

Block id: UPPER_BANK or LOWER_BANK.

Definition at line 125 of file CObservationVelodyneScan.h.

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

laser_returns

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

Definition at line 127 of file CObservationVelodyneScan.h.

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

rotation

uint16_t mrpt::obs::CObservationVelodyneScan::raw_block_t::rotation

0-35999, divide by 100 to get degrees

Definition at line 126 of file CObservationVelodyneScan.h.

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