Class slamcore::LIDARScanInterface

class LIDARScanInterface : public MeasurementPoint<lidar_clock>

Complete LIDAR scan.

Public Types

using Ptr = std::shared_ptr<LIDARScanInterface>

using CPtr = std::shared_ptr<const LIDARScanInterface>

using MeasurementPointT = MeasurementPoint<lidar_clock>

using SampleOffsetT = std::chrono::duration<uint32_t, std::micro>

Public Functions

virtual ~LIDARScanInterface() = default

inline struct __attribute__ ((__packed__)) Sample

virtual std::size_t size() const = 0

Returns the number of points in the scan.

virtual const Sample *samples() const = 0

Read-only access to the list of samples coordinates.

Public Static Functions

static inline void convert(const Sample &s, Vector<double, 3> &v)

Helper to convert to Cartesian.