Struct LaserScan 

pub struct LaserScan {
    pub timestamp: u64,
    pub angle_min: f32,
    pub angle_max: f32,
    pub angle_increment: f32,
    pub time_increment: f32,
    pub scan_time: f32,
    pub range_min: f32,
    pub range_max: f32,
    pub ranges: Vec<f32>,
    pub intensities: Option<Vec<f32>>,
    pub frame_id: Option<String>,
}

2D laser scan data

Represents a planar laser scan (e.g., from RPLidar, Hokuyo)

Fields

timestamp: u64

Timestamp in microseconds since epoch

angle_min: f32

Start angle of the scan in radians

angle_max: f32

End angle of the scan in radians

angle_increment: f32

Angular distance between measurements in radians

time_increment: f32

Time between measurements in seconds

scan_time: f32

Time between scans in seconds

range_min: f32

Minimum range value in meters

range_max: f32

Maximum range value in meters

ranges: Vec<f32>

Range data in meters (one per angle)

intensities: Option<Vec<f32>>

Intensity data (optional)

frame_id: Option<String>

Optional frame ID

Implementations

impl LaserScan

pub fn num_points(&self) -> usize

Returns the number of scan points

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

Returns the angle for a given index in radians

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

Converts scan point to (x, y) coordinates in meters

pub fn is_valid_range(&self, range: f32) -> bool

Checks if a range value is valid

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

Returns all valid points as (x, y) coordinates

pub fn age_micros(&self) -> u64

Returns the age of this scan in microseconds

Trait Implementations

impl Clone for LaserScan

fn clone(&self) -> LaserScan

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for LaserScan

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for LaserScan

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for LaserScan

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Message for LaserScan