ark::lidar::BarajaSpectrumSweepBuilder

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

A sweep builder intended for the Baraja Spectrum LIDAR. Accumulates LIDAR packets until it determines that a “sweep” should be emitted.

Today, the LIDAR appears to go from -60 to 60, so we use that to determine when a “sweep” should be emitted.

Methods

  • BarajaSpectrumSweepBuilder(std::string frame_id)
    Constructor, initialize with the given frame identifier.

  • std::optional< BarajaSpectrumSweep > process_buffer(const comms::UdpPacket & packet)
    Processes the given raw packet buffer. If an entire sweep has been accumulated, returns that. Otherwise, returns an empty optional.

  • BarajaSpectrumSweepBuilderStats statistics()
    Returns computed statistics of processing packets.