multibeam_ping_t.lcm.cpp

package multibeamlcm;

struct ping_t {
  int64_t time;

  string sonar_id; // sonar id, e.g.: "DIDSON", "MB2250", ...

  // platform/vehicle pose in the world frame
  double platform_origin[3];      // x y z (North, East, Down) [m]
  double platform_orientation[4]; // w + xi + yj + zk (eigen conv)

  // sensor pose in the platform frame
  double sensor_origin[3];      // x y z (FWD, STB, DOWN) [m]
  double sensor_orientation[4]; // w + xi + yj + zk (eigen conv)

  double hfov; // the horizontal (in-plane) field of view [rad]
  double vfov; // the vertical (out-of-plane) field of view [rad]

  int32_t num_beams; // number of (virtual) beams
  double beam_hfov;  // in-plane beam width (3dB down) [rad]
  double beam_vfov;  // out-of-plane beam width (3dB down) [rad]
  double azi[num_beams]; // nominal beam azimuth [rad]

  int32_t num_bins; // number of range bins
  double min_range; // [m]
  double max_range; // [m]
  double range[num_bins];
  double focus;     // [m]

  double rx_gain;       // [dB]
  double tx_gain;       // [dB]
  double tvg[num_bins];

  double water_temperature; // [deg C]
  double center_frequency;  // [Hz]
  double sound_speed;       // [m/s]

  int32_t width;
  int32_t height;
  int32_t size;
  int16_t image[size];
}