Struct nebula::drivers::raw_packet

ClassList > nebula > drivers > raw_packet

Raw Velodyne packet. More...

• #include <velodyne_scan_decoder.hpp>

Public Attributes

Type	Name
raw_block_t	blocks
uint16_t	revolution
uint8_t	status

Detailed Description

revolution is described in the device manual as incrementing (mod 65536) for each physical turn of the device. Our device seems to alternate between two different values every third packet. One value increases, the other decreases.

Todo

figure out if revolution is only present for one of the two types of status fields

status has either a temperature encoding or the microcode level

Public Attributes Documentation

variable blocks

raw_block_t nebula::drivers::raw_packet::blocks[BLOCKS_PER_PACKET];

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variable revolution

uint16_t nebula::drivers::raw_packet::revolution;

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variable status

uint8_t nebula::drivers::raw_packet::status[PACKET_STATUS_SIZE];

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The documentation for this class was generated from the following file nebula_decoders/include/nebula_decoders/nebula_decoders_velodyne/decoders/velodyne_scan_decoder.hpp