raisim::SpinningLidar::Sweep

struct · #include <raisim/sensors/SpinningLidar.hpp>

Yaw columns swept by one update. Column i (0 <= i < count) has the yaw (first + i * direction) * 2 * pi / yawSamples.

Public attributes

first

int first

Yaw sample index of the first column (any integer; wrap it modulo yawSamples).

count

size_t count

Number of columns; more than yawSamples when the head turned more than once.

direction

int direction

Index step between columns: the spin direction (1 or -1).