61 lines
1.6 KiB
C#
61 lines
1.6 KiB
C#
namespace RobotNet10.Shared.Sensor;
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/// <summary>
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/// Range message (sensor_msgs/Range)
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/// Single range reading from an active ranger that emits energy and reports
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/// one range reading that is valid along an arc at the distance measured.
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/// </summary>
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public struct Range
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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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/// Radiation type constants
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/// </summary>
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public const byte RadiationTypeUltrasound = 0;
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public const byte RadiationTypeInfrared = 1;
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/// <summary>
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/// The type of radiation used by the sensor (RadiationType constants)
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/// </summary>
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public byte RadiationType { get; set; }
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/// <summary>
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/// The size of the arc that the distance reading is valid for (rad)
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/// </summary>
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public double FieldOfView { 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 MinRange { 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 MaxRange { 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 RangeValue { get; set; }
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/// <summary>
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/// Default constructor
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/// </summary>
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public Range()
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{
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Header = new Header();
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RadiationType = RadiationTypeUltrasound;
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FieldOfView = 0.0;
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MinRange = 0.0;
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MaxRange = 0.0;
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RangeValue = 0.0;
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}
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}
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