API Documentation

LidarPoint

A generic 3D Lidar point.

This describes a Lidar point in 3D space.

All coordinate data is in the parent frame.

LidarPoint::LidarPoint ( )

A default constructor.

LidarPoint::LidarPoint ( … )

A copy constructor.

Parameters
in/out type description
in const LidarPoint & Instance being copied.

LidarPoint::LidarPoint ( … )

A convenience constructor from a related type.

Parameters
in/out type description
in const ps_lidar_point & Instance of related type.

LidarPoint::~LidarPoint ( )

A default destructor.

LidarPoint::print ( … )

This will print internal values.

Parameters
in/out type description
in std::ostream & Output stream that defaults to std::cout.

Returns

  • void

LidarPoint::get_ps_lidar_point ( ) const

This will provide convenient access to a related type.

Returns

LidarPoint::operator= ( … )

An assignment operator.

Parameters
in/out type description
in const LidarPoint & Instance to copy.
Returns

LidarPoint::getPosition ( ) const

This will get the position of a point. [xyz meters] Value PSYNC_FLOAT_POSITION_NOT_AVAILABLE means the value is not available.

Returns
  • std::array< float, 3 >

LidarPoint::setPosition ( … )

This will set the position of the point. [xyz meters] Value PSYNC_FLOAT_POSITION_NOT_AVAILABLE means the value is not available.

Parameters
in/out type description
in const std::array< float, 3 > & Position of point. [xyz meters]
Returns
  • void

LidarPoint::getIntensity ( ) const

This will get the intensity of the point. A value of zero means the intensity not known, or not available. Value one means lowest intensity. Value 255 (0xFF) means highest intensity.

};

Returns
  • unsigned char

LidarPoint::setIntensity ( … )

The set intensity of the point. A value of zero means the intensity not known, or not available. Value one means lowest intensity. Value 255 (0xFF) means highest intensity.

Parameters
in/out type description
in unsigned char Intensity of point.
Returns
  • void