Apollo
10.0
自动驾驶开放平台
velodyne.proto
浏览该文件的文档.
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syntax
=
"proto2"
;
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package
apollo.drivers.velodyne;
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import
"
modules/common_msgs/basic_msgs/header.proto
";
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enum
Model
{
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UNKNOWN
= 0;
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HDL64E_S3S
= 1;
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HDL64E_S3D
= 2;
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HDL64E_S2
= 3;
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HDL32E
= 4;
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VLP16
= 5;
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VLP32C
= 6;
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VLS128
= 7;
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}
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enum
Mode
{
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STRONGEST
= 1;
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LAST
= 2;
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DUAL
= 3;
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}
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message
VelodynePacket
{
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optional uint64 stamp = 1;
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optional bytes data = 2;
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}
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message
VelodyneScan
{
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optional
apollo
.
common
.
Header
header = 1;
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optional
Model
model = 2;
// velodyne device model
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optional
Mode
mode = 3;
// velodyne work mode
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repeated
VelodynePacket
firing_pkts = 4;
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// for HDL32 and VLP16
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repeated
VelodynePacket
positioning_pkts = 5;
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// velodyne device serial number, corresponds to a specific calibration file
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optional
string
sn = 6;
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optional uint64 basetime = 7 [
default
= 0];
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}
header.proto
apollo::common
apollo::common
apollo::drivers::velodyne::Model
Model
Definition
velodyne.proto:7
apollo::drivers::velodyne::UNKNOWN
@ UNKNOWN
Definition
velodyne.proto:8
apollo::drivers::velodyne::VLS128
@ VLS128
Definition
velodyne.proto:15
apollo::drivers::velodyne::HDL64E_S3D
@ HDL64E_S3D
Definition
velodyne.proto:10
apollo::drivers::velodyne::VLP16
@ VLP16
Definition
velodyne.proto:13
apollo::drivers::velodyne::HDL64E_S3S
@ HDL64E_S3S
Definition
velodyne.proto:9
apollo::drivers::velodyne::HDL32E
@ HDL32E
Definition
velodyne.proto:12
apollo::drivers::velodyne::HDL64E_S2
@ HDL64E_S2
Definition
velodyne.proto:11
apollo::drivers::velodyne::VLP32C
@ VLP32C
Definition
velodyne.proto:14
apollo::drivers::velodyne::Mode
Mode
Definition
velodyne.proto:18
apollo::drivers::velodyne::STRONGEST
@ STRONGEST
Definition
velodyne.proto:19
apollo::drivers::velodyne::LAST
@ LAST
Definition
velodyne.proto:20
apollo::drivers::velodyne::DUAL
@ DUAL
Definition
velodyne.proto:21
apollo
class register implement
Definition
arena_queue.h:37
apollo::common::Header
Definition
header.proto:7
apollo::drivers::velodyne::VelodynePacket
Definition
velodyne.proto:24
apollo::drivers::velodyne::VelodyneScan
Definition
velodyne.proto:29
syntax
syntax
Definition
velodyne.proto:1
modules
drivers
lidar
proto
velodyne.proto