Sensors/Library/LIDARs/Velodyne/VLP16.openplx
VLP16
VLP16 is Physics3D.System: .doc: """ Velodyne VLP-16 LIDAR. Data sheet: https://www.hypertech.co.il/wp-content/uploads/2015/12/63-9229_Rev-F_Puck__Spec_Sheet_Web.pdf User manual: https://docs.clearpathrobotics.com/assets/files/clearpath_robotics_029029-TDS2-00b7913d65b51a841cb5dc6c2b711487.pdf """ body is Physics3D.Bodies.RigidBody: is_dynamic: true inertia: mass: 0.83 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: 903e-9 beam_divergence becomes Sensors.Optics.ConicalBeamDivergence: divergence_angle: 2.25e-3 waist_radius: 4.2e-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(Math.Functions.deg_to_rad(-15.0), Math.Functions.deg_to_rad(15.0)) distance_noise is Sensors.LidarDetectionDistanceGaussianNoise: mean: 0.0 standard_deviation: 0 standard_deviation_slope: 3e-4 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
