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File lidar_scan.hpp

Core API objects - LIDAR scan.

template<typename T>
struct TypeTraits<T, typename enable_if_is_base_of<LIDARScanInterface, T>::type>
#include <lidar_scan.hpp>

Public Static Attributes

static constexpr ObjectType EnumType = ObjectType::LIDARScan
namespace slamcore

Main namespace for the Slamcore public API

Helper conversion methods

slamcore::ImageFormat \(\leftrightarrow\) BytesPerChannel

Get information about the client library

class LIDARScanInterface : public MeasurementPoint<lidar_clock>
#include <lidar_scan.hpp>

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.

template<typename T> type >
#include <lidar_scan.hpp>

Public Static Attributes

static constexpr ObjectType EnumType = ObjectType::LIDARScan