Struct Range

#[repr(C)]
pub struct Range {
    pub header: Header,
    pub radiation_type: RadiationType,
    pub field_of_view: f32,
    pub min_range: f32,
    pub max_range: f32,
    pub range: f32,
}

Single range reading from an active ranger that emits energy and reports one range reading that is valid along an arc at the distance measured. This message is not appropriate for laser scanners. See the LaserScan message if you are working with a laser scanner.

This message also can represent a fixed-distance (binary) ranger. This sensor will have min_range===max_range===distance of detection. These sensors follow REP 117 and will output -Inf if the object is detected and +Inf if the object is outside of the detection range.

Fields

header: Header

radiation_type: RadiationType

field_of_view: f32

the size of the arc that the distance reading is valid for [rad] the object causing the range reading may have been anywhere within -field_of_view/2 and field_of_view/2 at the measured range. 0 angle corresponds to the x-axis of the sensor.

min_range: f32

minimum range value [m]

max_range: f32

maximum range value [m]

range: f32

range data [m] (Note: values < range_min or > range_max should be discarded) Fixed distance rangers only output -Inf or +Inf. -Inf represents a detection within fixed distance. (Detection too close to the sensor to quantify) +Inf represents no detection within the fixed distance. (Object out of range)

Implementations

impl Range

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<Range>

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 Range

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for Range

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 Range

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