/home/laradmin/lar/utils/mit_darpa_logs_player/src/velodyne.cpp File Reference

Utilities for velodyne laser. More...

#include <stdio.h>
#include <stdint.h>
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include "math_util.h"
#include "velodyne.h"
#include "velodyne-newunit.h"

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#define	LOWER_MAGIC 0xddff
#define	METERS_PER_LSB 0.002
#define	RADIANS_PER_LSB 0.00017453293
#define	UPPER_MAGIC 0xeeff
static velodyne_calib_t *	__v
static int	laser_phi_compare (const void _a, const void _b)
velodyne_calib_t *	velodyne_calib_create ()
void	velodyne_calib_dump (velodyne_calib_t *v)
int	velodyne_calib_precompute (velodyne_calib_t *v)
int	velodyne_decode (velodyne_calib_t v, const void _data, int datalen, double _theta0, double ranges, double intensities, double thetas, double phis, int laserids, int nsamples, int badscans)
int	velodyne_decoder_estimate_samples (velodyne_calib_t v, const void _data, int datalen)
int	velodyne_decoder_init (velodyne_calib_t v, velodyne_decoder_t vd, const void *_data, int datalen)
int	velodyne_decoder_next (velodyne_calib_t v, velodyne_decoder_t vd, velodyne_sample_t *sample)

Detailed Description

Utilities for velodyne laser.

Definition in file velodyne.cpp.

Define Documentation

#define LOWER_MAGIC 0xddff

Definition at line 47 of file velodyne.cpp.

#define METERS_PER_LSB 0.002

Definition at line 52 of file velodyne.cpp.

#define RADIANS_PER_LSB 0.00017453293

Definition at line 51 of file velodyne.cpp.

#define UPPER_MAGIC 0xeeff

Definition at line 46 of file velodyne.cpp.

Function Documentation

static int laser_phi_compare	(	const void *	_a,
		const void *	_b
	)			`[static]`

Definition at line 235 of file velodyne.cpp.

velodyne_calib_t* velodyne_calib_create ( )

Definition at line 273 of file velodyne.cpp.

void velodyne_calib_dump ( velodyne_calib_t * v )

Definition at line 221 of file velodyne.cpp.

int velodyne_calib_precompute ( velodyne_calib_t * v )

Definition at line 246 of file velodyne.cpp.

int velodyne_decode	(	velodyne_calib_t *	v,
		const void *	_data,
		int	datalen,
		double *	_theta0,
		double *	ranges,
		double *	intensities,
		double *	thetas,
		double *	phis,
		int *	laserids,
		int *	nsamples,
		int *	badscans
	)

Definition at line 161 of file velodyne.cpp.

int velodyne_decoder_estimate_samples	(	velodyne_calib_t *	v,
		const void *	_data,
		int	datalen
	)

Definition at line 55 of file velodyne.cpp.

int velodyne_decoder_init	(	velodyne_calib_t *	v,
		velodyne_decoder_t *	vd,
		const void *	_data,
		int	datalen
	)

Definition at line 61 of file velodyne.cpp.

int velodyne_decoder_next	(	velodyne_calib_t *	v,
		velodyne_decoder_t *	vd,
		velodyne_sample_t *	sample
	)

Definition at line 87 of file velodyne.cpp.

Variable Documentation

velodyne_calib_t* __v [static]

Definition at line 234 of file velodyne.cpp.