BB.Message.Sensor.LaserScan (bb v0.2.1)

View Source

Single scan from a planar laser range-finder.

Fields

  • angle_min - Start angle of scan in radians
  • angle_max - End angle of scan in radians
  • angle_increment - Angular distance between measurements in radians
  • time_increment - Time between measurements in seconds
  • scan_time - Time between scans in seconds
  • range_min - Minimum range value in metres
  • range_max - Maximum range value in metres
  • ranges - Range data in metres (values < range_min or > range_max are invalid)
  • intensities - Intensity data (device-specific units, optional)

Examples

alias BB.Message.Sensor.LaserScan

{:ok, msg} = LaserScan.new(:laser_frame,
  angle_min: -1.57,
  angle_max: 1.57,
  angle_increment: 0.01,
  time_increment: 0.0001,
  scan_time: 0.1,
  range_min: 0.1,
  range_max: 10.0,
  ranges: [1.0, 1.1, 1.2, 1.3]
)

Summary

Types

t()

Functions

new(frame_id, attrs)

Types

t()

@type t() :: %BB.Message.Sensor.LaserScan{
  angle_increment: float(),
  angle_max: float(),
  angle_min: float(),
  intensities: [float()],
  range_max: float(),
  range_min: float(),
  ranges: [float()],
  scan_time: float(),
  time_increment: float()
}

Functions

new(frame_id, attrs)

@spec new(
  atom(),
  keyword()
) :: {:ok, BB.Message.t()} | {:error, term()}