6 #include <ydlidar_cmd.h> 8 #define SUNNOISEINTENSITY 0xff 9 #define GLASSNOISEINTENSITY 0xfe 17 uint16_t sync_quality;
22 } __attribute__((packed)) ;
25 uint8_t PakageSampleQuality;
26 uint16_t PakageSampleDistance;
27 } __attribute__((packed));
30 uint16_t package_Head;
32 uint8_t nowPackageNum;
33 uint16_t packageFirstSampleAngle;
34 uint16_t packageLastSampleAngle;
37 } __attribute__((packed)) ;
40 uint16_t package_Head;
42 uint8_t nowPackageNum;
43 uint16_t packageFirstSampleAngle;
44 uint16_t packageLastSampleAngle;
46 uint16_t packageSampleDistance[PackageSampleMaxLngth];
47 } __attribute__((packed)) ;
54 uint8_t serialnum[16];
55 } __attribute__((packed)) ;
60 } __attribute__((packed)) ;
64 } __attribute__((packed)) ;
68 } __attribute__((packed)) ;
72 } __attribute__((packed)) ;
76 } __attribute__((packed)) ;
80 } __attribute__((packed));
84 } __attribute__((packed)) ;
88 } __attribute__((packed)) ;
95 } __attribute__((packed)) ;
103 } __attribute__((packed));
117 intensity = data.intensity;
156 this->data = data.
data;
uint8_t rate
采样频率
Definition: ydlidar_protocol.h:63
uint8_t scan_frequence
时间戳
Definition: ydlidar_protocol.h:21
float min_angle
Start angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDL...
Definition: ydlidar_protocol.h:125
uint8_t status
健康状体
Definition: ydlidar_protocol.h:58
Definition: ydlidar_protocol.h:90
Definition: ydlidar_protocol.h:57
uint16_t error_code
错误代码
Definition: ydlidar_protocol.h:59
Definition: ydlidar_protocol.h:110
A struct for returning configuration from the YDLIDAR.
Definition: ydlidar_protocol.h:123
Definition: ydlidar_protocol.h:148
uint64_t system_time_stamp
System time when first range was measured in nanoseconds.
Definition: ydlidar_protocol.h:152
Definition: ydlidar_protocol.h:29
Definition: ydlidar_protocol.h:78
uint8_t enable
掉电保护状态
Definition: ydlidar_protocol.h:79
uint64_t stamp
当前测距点距离
Definition: ydlidar_protocol.h:20
uint8_t exposure
低光功率模式
Definition: ydlidar_protocol.h:75
Definition: ydlidar_protocol.h:50
Definition: ydlidar_protocol.h:62
float time_increment
Scan resoltuion [s].
Definition: ydlidar_protocol.h:129
float scan_time
Time between scans.
Definition: ydlidar_protocol.h:131
float max_angle
Stop angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLI...
Definition: ydlidar_protocol.h:127
float max_range
Maximum range [m].
Definition: ydlidar_protocol.h:135
uint16_t firmware_version
固件版本号
Definition: ydlidar_protocol.h:52
uint16_t distance_q2
测距点角度
Definition: ydlidar_protocol.h:19
uint16_t angle_q6_checkbit
信号质量
Definition: ydlidar_protocol.h:18
Definition: ydlidar_protocol.h:74
uint8_t model
雷达型号
Definition: ydlidar_protocol.h:51
uint8_t hardware_version
硬件版本号
Definition: ydlidar_protocol.h:53
Definition: ydlidar_protocol.h:82
std::vector< LaserPoint > data
Array of laser point.
Definition: ydlidar_protocol.h:150
float min_range
Minimum range [m].
Definition: ydlidar_protocol.h:133
Definition: ydlidar_protocol.h:70
uint32_t frequency
扫描频率
Definition: ydlidar_protocol.h:67
LaserConfig config
Configuration of scan.
Definition: ydlidar_protocol.h:154
Definition: ydlidar_protocol.h:15
Definition: ydlidar_protocol.h:66
Definition: ydlidar_protocol.h:24
Definition: ydlidar_protocol.h:86
Definition: ydlidar_protocol.h:39