velodyne_rawdata Namespace Reference

Classes
class	DataContainerBase
struct	raw_block
	Raw Velodyne data block. More...
struct	raw_packet
	Raw Velodyne packet. More...
class	RawData
	Velodyne data conversion class. More...
union	two_bytes

Typedefs
typedef struct velodyne_rawdata::raw_block	raw_block_t
	Raw Velodyne data block. More...
typedef struct velodyne_rawdata::raw_packet	raw_packet_t
	Raw Velodyne packet. More...

Functions
float	SQR (float val)

Variables
static const int	BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE)
static const int	BLOCKS_PER_PACKET = 12
static const uint16_t	LOWER_BANK = 0xddff
static const int	PACKET_SIZE = 1206
static const int	PACKET_STATUS_SIZE = 4
static const int	RAW_SCAN_SIZE = 3
static const uint16_t	ROTATION_MAX_UNITS = 36000u
static const float	ROTATION_RESOLUTION = 0.01f
static const int	SCANS_PER_BLOCK = 32
static const int	SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET)
static const int	SIZE_BLOCK = 100
static const uint16_t	UPPER_BANK = 0xeeff
static const float	VLP16_BLOCK_TDURATION = 110.592f
static const float	VLP16_DSR_TOFFSET = 2.304f
static const float	VLP16_FIRING_TOFFSET = 55.296f
static const int	VLP16_FIRINGS_PER_BLOCK = 2
static const int	VLP16_SCANS_PER_FIRING = 16
static const uint16_t	VLS128_BANK_1 = 0xeeff
static const uint16_t	VLS128_BANK_2 = 0xddff
static const uint16_t	VLS128_BANK_3 = 0xccff
static const uint16_t	VLS128_BANK_4 = 0xbbff
static const float	VLS128_CHANNEL_TDURATION = 2.665f
static const float	VLS128_DISTANCE_RESOLUTION = 0.004f
static const float	VLS128_MODEL_ID = 161
static const float	VLS128_SEQ_TDURATION = 53.3f
static const float	VLS128_TOH_ADJUSTMENT = 8.7f

Typedef Documentation

raw_block_t

typedef struct velodyne_rawdata::raw_block velodyne_rawdata::raw_block_t

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.

use stdint.h types, so things work with both 64 and 32-bit machines

raw_packet_t

typedef struct velodyne_rawdata::raw_packet velodyne_rawdata::raw_packet_t

Raw Velodyne packet.

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

Function Documentation

SQR()

float velodyne_rawdata::SQR ( float  val )

inline

Definition at line 41 of file rawdata.cc.

Variable Documentation

BLOCK_DATA_SIZE

const int velodyne_rawdata::BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE)

static

Definition at line 65 of file rawdata.h.

BLOCKS_PER_PACKET

const int velodyne_rawdata::BLOCKS_PER_PACKET = 12

static

Definition at line 108 of file rawdata.h.

LOWER_BANK

const uint16_t velodyne_rawdata::LOWER_BANK = 0xddff

static

Definition at line 72 of file rawdata.h.

PACKET_SIZE

const int velodyne_rawdata::PACKET_SIZE = 1206

static

Definition at line 107 of file rawdata.h.

PACKET_STATUS_SIZE

const int velodyne_rawdata::PACKET_STATUS_SIZE = 4

static

Definition at line 109 of file rawdata.h.

RAW_SCAN_SIZE

const int velodyne_rawdata::RAW_SCAN_SIZE = 3

static

Definition at line 63 of file rawdata.h.

ROTATION_MAX_UNITS

const uint16_t velodyne_rawdata::ROTATION_MAX_UNITS = 36000u

static

Definition at line 68 of file rawdata.h.

ROTATION_RESOLUTION

const float velodyne_rawdata::ROTATION_RESOLUTION = 0.01f

static

Definition at line 67 of file rawdata.h.

SCANS_PER_BLOCK

const int velodyne_rawdata::SCANS_PER_BLOCK = 32

static

Definition at line 64 of file rawdata.h.

SCANS_PER_PACKET

const int velodyne_rawdata::SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET)

static

Definition at line 110 of file rawdata.h.

SIZE_BLOCK

const int velodyne_rawdata::SIZE_BLOCK = 100

static

Raw Velodyne packet constants and structures.

Definition at line 62 of file rawdata.h.

UPPER_BANK

const uint16_t velodyne_rawdata::UPPER_BANK = 0xeeff

static

Todo:

make this work for both big and little-endian machines

Definition at line 71 of file rawdata.h.

VLP16_BLOCK_TDURATION

const float velodyne_rawdata::VLP16_BLOCK_TDURATION = 110.592f

static

Definition at line 77 of file rawdata.h.

VLP16_DSR_TOFFSET

const float velodyne_rawdata::VLP16_DSR_TOFFSET = 2.304f

static

Definition at line 78 of file rawdata.h.

VLP16_FIRING_TOFFSET

const float velodyne_rawdata::VLP16_FIRING_TOFFSET = 55.296f

static

Definition at line 79 of file rawdata.h.

VLP16_FIRINGS_PER_BLOCK

const int velodyne_rawdata::VLP16_FIRINGS_PER_BLOCK = 2

static

Special Defines for VLP16 support

Definition at line 75 of file rawdata.h.

VLP16_SCANS_PER_FIRING

const int velodyne_rawdata::VLP16_SCANS_PER_FIRING = 16

static

Definition at line 76 of file rawdata.h.

VLS128_BANK_1

const uint16_t velodyne_rawdata::VLS128_BANK_1 = 0xeeff

static

Special Definitions for VLS128 support

Definition at line 114 of file rawdata.h.

VLS128_BANK_2

const uint16_t velodyne_rawdata::VLS128_BANK_2 = 0xddff

static

Definition at line 115 of file rawdata.h.

VLS128_BANK_3

const uint16_t velodyne_rawdata::VLS128_BANK_3 = 0xccff

static

Definition at line 116 of file rawdata.h.

VLS128_BANK_4

const uint16_t velodyne_rawdata::VLS128_BANK_4 = 0xbbff

static

Definition at line 117 of file rawdata.h.

VLS128_CHANNEL_TDURATION

const float velodyne_rawdata::VLS128_CHANNEL_TDURATION = 2.665f

static

Definition at line 119 of file rawdata.h.

VLS128_DISTANCE_RESOLUTION

const float velodyne_rawdata::VLS128_DISTANCE_RESOLUTION = 0.004f

static

Definition at line 122 of file rawdata.h.

VLS128_MODEL_ID

const float velodyne_rawdata::VLS128_MODEL_ID = 161

static

Definition at line 123 of file rawdata.h.

VLS128_SEQ_TDURATION

const float velodyne_rawdata::VLS128_SEQ_TDURATION = 53.3f

static

Definition at line 120 of file rawdata.h.

VLS128_TOH_ADJUSTMENT

const float velodyne_rawdata::VLS128_TOH_ADJUSTMENT = 8.7f

static

Definition at line 121 of file rawdata.h.