ark::lidar::BarajaSpectrumDataPoint

Defined in header “ark/lidar/baraja/data.hh”.

---

A single point of data (the number of points is computed based on packet size).a Note this is fairly confusing, because the entire structure is actually packed on really odd bit-boundaries, and clang, at least, doesn’t properly pack them together. So we have to unpack them manually.

Variables

• uint8_t delta_time_us

• uint16_t theta
  Horizontal angle x 100.

• uint8_t data
  Packed data. This is organized as such: