Struct LaserScan

• Defined in File schemas.hpp

Struct Documentation

struct LaserScan

A single scan from a planar laser range-finder.

Public Members

std::optional<foxglove::Timestamp> timestamp

Timestamp of scan.

std::string frame_id

Frame of reference.

std::optional<Pose> pose

Origin of scan relative to frame of reference; points are positioned in the x-y plane relative to this origin; angles are interpreted as counterclockwise rotations around the z axis with 0 rad being in the +x direction.

double start_angle = 0

Bearing of first point, in radians.

double end_angle = 0

Bearing of last point, in radians.

std::vector<double> ranges

Distance of detections from origin; assumed to be at equally-spaced angles between start_angle and end_angle

std::vector<double> intensities

Intensity of detections.