Struct LaserScan 

#[repr(C)]
pub struct LaserScan {
    pub header: Header,
    pub angle_min: f32,
    pub angle_max: f32,
    pub angle_increment: f32,
    pub time_increments: f32,
    pub scan_time: f32,
    pub range_min: f32,
    pub range_max: f32,
    pub ranges: Vec<f32>,
    pub intensities: Vec<f32>,
}

Fields

header: Header

timestamp in the header is the acquisition time of the first ray in the scan.

in frame frame_id, angles are measured around the positive Z axis (counterclockwise, if Z is up) with zero angle being forward along the x axis

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

time_increments: f32

time between scans in seconds if your scanner is moving, this will be used in interpolating position of 3d points

scan_time: f32

time between scans in seconds

range_min: f32

minimum range value in metres

range_max: f32

maximum range valie in metres

ranges: Vec<f32>

range data in metres

intensities: Vec<f32>

intensity data

Implementations

impl LaserScan

pub fn create_topic_with_name( participant: &DdsParticipant, name: &str, maybe_qos: Option<DdsQos>, maybe_listener: Option<DdsListener>, ) -> Result<DdsTopic<Self>, DDSError>

Create a topic using of this Type specifying the topic name

Arguments

• participant - The participant handle onto which this topic should be created
• name - The name of the topic
• maybe_qos - A QoS structure for this topic. The Qos is optional
• maybe_listener - A listener to use on this topic. The listener is optional

pub fn create_topic( participant: &DdsParticipant, maybe_topic_prefix: Option<&str>, maybe_qos: Option<DdsQos>, maybe_listener: Option<DdsListener>, ) -> Result<DdsTopic<Self>, DDSError>

Create a topic of this Type using the default topic name. The default topic name is provided by the Self::topic_name function.

Arguments

• participant - The participant handle onto which this topic should be created
• maybe_topic_prefix - An additional prefix to be added to the topic name. This can be None
• maybe_qos - A QoS structure for this topic. The Qos is optional
• maybe_listener - A listener to use on this topic. The listener is optional

pub fn create_sample_buffer(len: usize) -> SampleBuffer<LaserScan>

Create a sample buffer for storing an array of samples You can pass the sample buffer into a read to read multiple samples. Multiple samples are useful when you have one or more keys in your topic structure. Each value of the key will result in the storage of another sample.

Trait Implementations

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 TopicType for LaserScan

fn key_cdr(&self) -> Vec<u8>

return the cdr encoding for the key. The encoded string includes the four byte encapsulation string.

fn is_fixed_size() -> bool

fn has_key() -> bool

fn force_md5_keyhash() -> bool

fn hash(&self, basehash: u32) -> u32

fn typename() -> CString

The type name for this topic

fn topic_name(maybe_prefix: Option<&str>) -> String

The default topic_name to use when creating a topic of this type. The default implementation uses ‘/’ instead of ‘::’ to form a unix like path. A prefix can optionally be added