robotics_signals/sensors/
laser_scan.rs

1use cdds_derive::*;
2use cyclonedds_rs::*;
3use serde_derive::{Deserialize, Serialize};
4
5use crate::standard::Header;
6
7#[repr(C)]
8#[derive(Serialize, Deserialize, Topic)]
9pub struct LaserScan {
10    /// timestamp in the header is the acquisition time of
11    /// the first ray in the scan.
12    ///
13    /// in frame frame_id, angles are measured around
14    /// the positive Z axis (counterclockwise, if Z is up)
15    /// with zero angle being forward along the x axis
16    pub header: Header,
17
18    /// start angle of the scan in radians
19    pub angle_min: f32,
20
21    /// end angle of the scan in radians
22    pub angle_max: f32,
23
24    /// angular distance between measurements
25    pub angle_increment: f32,
26
27    /// time between scans in seconds
28    /// if your scanner is moving, this will be used in interpolating position
29    /// of 3d points
30    pub time_increments: f32,
31
32    /// time between scans in seconds
33    pub scan_time: f32,
34
35    /// minimum range value in metres
36    pub range_min: f32,
37
38    /// maximum range valie in metres
39    pub range_max: f32,
40
41    /// range data in metres
42    pub ranges: Vec<f32>,
43
44    /// intensity data
45    pub intensities: Vec<f32>,
46}
robotics_signals/sensors/laser_scan.rs

robotics_signals/sensors/
laser_scan.rs
