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ROS2Sonic
0.2.0
A ROS2 driver for R2Sonic MBES
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A datatype represnting the fixed length portion of the M0 message. More...
#include <m0.hpp>

Public Attributes | |
| BE_u32 | PingNumber |
| pings since power-up or reboot | |
| BE_f32 | ScalingFactor |
| reserved for future use | |
| BE_u32 | TotalSamples |
| range samples (before compression) in entire ping, sample rate is H0_RxSampleRate | |
| BE_u32 | TotalBins |
| range bins (after compression) in entire ping (M0_TotalBins <= M0_TotalSamples) | |
| BE_u32 | FirstBin |
| first bin of this section | |
| BE_u16 | Bins |
| number of bins in this section | |
| BE_u16 | TotalBeams |
| beams (always a multiple of 4) (typically columns in your memory buffer) | |
| BE_u16 | FirstBeam |
| first beam of this section (always a multiple of 4) | |
| BE_u16 | Beams |
| number of beams in this section (always a multiple of 4) | |
| BE_u32 | reserved |
| reserved for future use | |
A datatype represnting the fixed length portion of the M0 message.
| BE_u16 r2sonic::sections::M0::Body::Beams |
number of beams in this section (always a multiple of 4)
| BE_u16 r2sonic::sections::M0::Body::Bins |
number of bins in this section
| BE_u16 r2sonic::sections::M0::Body::FirstBeam |
first beam of this section (always a multiple of 4)
| BE_u32 r2sonic::sections::M0::Body::FirstBin |
first bin of this section
| BE_u32 r2sonic::sections::M0::Body::PingNumber |
pings since power-up or reboot
| BE_u32 r2sonic::sections::M0::Body::reserved |
reserved for future use
| BE_f32 r2sonic::sections::M0::Body::ScalingFactor |
reserved for future use
| BE_u16 r2sonic::sections::M0::Body::TotalBeams |
beams (always a multiple of 4) (typically columns in your memory buffer)
| BE_u32 r2sonic::sections::M0::Body::TotalBins |
range bins (after compression) in entire ping (M0_TotalBins <= M0_TotalSamples)
| BE_u32 r2sonic::sections::M0::Body::TotalSamples |
range samples (before compression) in entire ping, sample rate is H0_RxSampleRate