Struct PartialScan

pub struct PartialScan {
    pub radar_speed: u16,
    pub start_angle: f32,
    pub data: [Range; 12],
    pub end_angle: f32,
    pub stamp: u16,
    pub crc: u8,
}

A single scan packet from the Lidar.

All angles are with clockwise respect to the arrow on the top of the unit.

Fields

radar_speed: u16

The rotational speed of the unit, in degrees per second.

start_angle: f32

The starting angle of this scan, in degrees.

data: [Range; 12]

The measured ranges.

The first range angle is at [start_angle].

end_angle: f32

The ending angle of this scan, in degrees.

stamp: u16

The timestamp of this scan, in ms. This will roll over at 30000.

crc: u8

The CRC check from the lidar.

Implementations

impl PartialScan

pub fn get_step(&self) -> f32

Gets the angular step per range reading.

pub fn get_angle_of_reading(&self, reading_num: u16) -> f32

Calculates the angle the nth reading was at in this packet. The reading number in this case is 0 indexed.

pub fn get_range_in_polar(&self, reading_num: u16) -> (f32, f32)

Translates the range from polar coordinates in terms of the LiDAR to polar coordinates in the standard format. In practice, this is rotating all points by 90 degrees clockwise, then reflecting. All angles are still in degrees.

Trait Implementations

impl Clone for PartialScan

fn clone(&self) -> PartialScan

Returns a duplicate of the value.

const fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for PartialScan

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for PartialScan

fn default() -> PartialScan

Returns the “default value” for a type.

impl Copy for PartialScan