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LaserScan2D

mecha10_controllers::lidar

Struct LaserScan2D 

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pub struct LaserScan2D {
    pub timestamp: u64,
    pub scan_id: u64,
    pub angle_min: f32,
    pub angle_max: f32,
    pub angle_increment: f32,
    pub range_min: f32,
    pub range_max: f32,
    pub ranges: Vec<f32>,
    pub intensities: Vec<f32>,
    pub quality: Vec<u8>,
}
Expand description

2D laser scan data

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§timestamp: u64

Timestamp (microseconds since epoch)

§scan_id: u64

Scan sequence number

§angle_min: f32

Minimum angle in radians

§angle_max: f32

Maximum angle in radians

§angle_increment: f32

Angular increment between measurements

§range_min: f32

Minimum range in meters

§range_max: f32

Maximum range in meters

§ranges: Vec<f32>

Range measurements in meters

§intensities: Vec<f32>

Intensity measurements (if available)

§quality: Vec<u8>

Quality/reliability values (if available)

Implementations§

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impl LaserScan2D

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pub fn num_points(&self) -> usize

Get the number of points in this scan

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pub fn point_at(&self, index: usize) -> Option<(f32, f32)>

Get cartesian coordinates for a specific point

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pub fn to_point_cloud(&self) -> Vec<(f32, f32)>

Convert to point cloud

Trait Implementations§

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impl Clone for LaserScan2D

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fn clone(&self) -> LaserScan2D

Returns a duplicate of the value. Read more
1.0.0 · Source§

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

Performs copy-assignment from source. Read more
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impl Debug for LaserScan2D

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

Formats the value using the given formatter. Read more
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impl Default for LaserScan2D

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fn default() -> Self

Returns the “default value” for a type. Read more
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impl<'de> Deserialize<'de> for LaserScan2D

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fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more
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impl Serialize for LaserScan2D

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fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>
where __S: Serializer,

Serialize this value into the given Serde serializer. Read more

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dest. Read more
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impl<T> From<T> for T

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fn from(t: T) -> T

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Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
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