laser format
[Data logging]
Collaboration diagram for laser format:
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- 1:1 (PLAYER_LASER_DATA_SCAN) - A scan. The format is:
- scan_id (int): unique, usually increasing index associated with the scan
- min_angle (float): minimum scan angle, in radians
- max_angle (float): maximum scan angle, in radians
- resolution (float): angular resolution, in radians
- max_range (float): maximum scan range, in meters
- count (int): number of readings to follow
- list of readings; for each reading:
- range (float): in meters
- intensity (int): intensity
- 1:2 (PLAYER_LASER_DATA_SCANPOSE) - A scan with an attached pose. The format is:
- scan_id (int): unique, usually increasing index associated with the scan
- px (float): X coordinate of the pose of the laser's parent object (e.g., the robot to which it is attached), in meters
- py (float): Y coordinate of the pose of the laser's parent object (e.g., the robot to which it is attached), in meters
- pa (float): yaw coordinate of the pose of the laser's parent object (e.g., the robot to which it is attached), in radians
- min_angle (float): minimum scan angle, in radians
- max_angle (float): maximum scan angle, in radians
- resolution (float): angular resolution, in radians
- max_range (float): maximum scan range, in meters
- count (int): number of readings to follow
- list of readings; for each reading:
- range (float): in meters
- intensity (int): intensity
- 4:1 (PLAYER_LASER_REQ_GET_GEOM) - Laser pose information. The format is:
- lx (float): X coordinate of the laser's pose wrt its parent (e.g., the robot to which it is attached), in meters.
- ly (float): Y coordinate of the laser's pose wrt its parent (e.g., the robot to which it is attached), in meters.
- la (float): yaw coordinate of the laser's pose wrt its parent (e.g., the robot to which it is attached), in radians.
- sx (float): length of the laser
- sy (float): width of the laser