81 lines
2.0 KiB
C#
81 lines
2.0 KiB
C#
namespace RobotNet10.Shared.Sensor;
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/// <summary>
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/// LaserScan message (sensor_msgs/LaserScan)
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/// Single scan from a planar laser range-finder
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/// </summary>
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public struct LaserScan
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{
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/// <summary>
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/// Header with timestamp and frame ID
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/// </summary>
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public Header Header { get; set; }
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/// <summary>
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/// Start angle of the scan (rad)
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/// </summary>
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public double AngleMin { get; set; }
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/// <summary>
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/// End angle of the scan (rad)
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/// </summary>
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public double AngleMax { get; set; }
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/// <summary>
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/// Angular distance between measurements (rad)
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/// </summary>
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public double AngleIncrement { get; set; }
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/// <summary>
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/// Time between measurements (seconds) - if your scanner
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/// is moving, this will be used in interpolating position
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/// of 3d points
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/// </summary>
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public double TimeIncrement { get; set; }
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/// <summary>
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/// Time between scans (seconds)
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/// </summary>
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public double ScanTime { get; set; }
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/// <summary>
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/// Minimum range value (m)
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/// </summary>
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public double RangeMin { get; set; }
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/// <summary>
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/// Maximum range value (m)
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/// </summary>
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public double RangeMax { get; set; }
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/// <summary>
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/// Range data (m)
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/// (Note: values < range_min or > range_max should be discarded)
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/// </summary>
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public double[] Ranges { get; set; }
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/// <summary>
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/// Intensity data (device-specific units)
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/// If your device does not provide intensities, please leave the array empty
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/// </summary>
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public double[] Intensities { get; set; }
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/// <summary>
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/// Default constructor
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/// </summary>
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public LaserScan()
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{
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Header = new Header();
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AngleMin = 0.0;
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AngleMax = 0.0;
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AngleIncrement = 0.0;
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TimeIncrement = 0.0;
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ScanTime = 0.0;
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RangeMin = 0.0;
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RangeMax = 0.0;
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Ranges = [];
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Intensities = [];
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}
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}
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