Sensors/Library/LIDARs/Ouster/OSDome.openplx
OSDome
OSDome is Physics3D.System: .doc: """ Ouster OSDome LIDAR. Data sheet: https://data.ouster.io/downloads/datasheets/datasheet-rev7-v3p0-osdome.pdf """ body is Physics3D.Bodies.RigidBody: is_dynamic: true inertia: mass: 0.470 tensor: Physics3D.Bodies.Inertia.symmetric_tensor(Math.Vec3.from_xyz(1.0, 1.0, 1.0), 0.0, 0.0, 0.0) connector is Physics3D.Interactions.RedirectedMateConnector: redirected_parent: body logic is Sensors.PulsedLidarLogic: mate_connector_attachment: connector wavelength: 865e-9 beam_divergence becomes Sensors.Optics.ConicalBeamDivergence: divergence_angle: Math.Functions.deg_to_rad(0.35) waist_radius: 5.0e-3 ray_source becomes Sensors.Optics.HorizontalSweepRaySource: horizontal_fov: x: Math.Functions.deg_to_rad(0.0) y: Math.Functions.deg_to_rad(360.0) vertical_fov: Math.Vec2.from_xy(0, Math.Functions.deg_to_rad(180.0)) distance_noise is Sensors.LidarDetectionDistanceGaussianNoise: mean: 0.0 standard_deviation: 0.01 standard_deviation_slope: 1.35e-3 sensing_distortions: [ logic.distance_noise ] distance_output is Sensors.Signals.LidarOutput: fields: [ Sensors.Signals.LidarOutputField.Distance_F32, Sensors.Signals.LidarOutputField.Intensity_F32, Sensors.Signals.LidarOutputField.TimeStamp_F64 ] source: logic
