Apollo  6.0
Open source self driving car software
const_variables.h
Go to the documentation of this file.
1 /******************************************************************************
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3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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16 
17 #pragma once
18 
19 #include <iostream>
20 
21 namespace apollo {
22 namespace drivers {
23 namespace velodyne {
24 
29 const int ORDER_16[16] = {0, 2, 4, 6, 8, 10, 12, 14, 1, 3, 5, 7, 9, 11, 13, 15};
30 
31 const int ORDER_HDL32E[32] = {0, 2, 4, 6, 8, 10, 12, 14, 16, 18, 20,
32  22, 24, 26, 28, 30, 1, 3, 5, 7, 9, 11,
33  13, 15, 17, 19, 21, 23, 25, 27, 29, 31};
34 
35 const int ORDER_64[64] = {38, 39, 42, 43, 32, 33, 36, 37, 40, 41, 46, 47, 50,
36  51, 54, 55, 44, 45, 48, 49, 52, 53, 58, 59, 62, 63,
37  34, 35, 56, 57, 60, 61, 6, 7, 10, 11, 0, 1, 4,
38  5, 8, 9, 14, 15, 18, 19, 22, 23, 12, 13, 16, 17,
39  20, 21, 26, 27, 30, 31, 2, 3, 24, 25, 28, 29};
40 
41 // micro second
42 const float INNER_TIME_64[12][32] = {
43  {419.30f, 418.57f, 417.84f, 417.12f, 416.39f, 415.66f, 414.93f, 414.20f,
44  413.48f, 412.75f, 412.02f, 411.29f, 410.56f, 409.84f, 409.11f, 408.38f,
45  407.65f, 406.92f, 406.20f, 405.47f, 404.74f, 404.01f, 403.28f, 402.56f,
46  401.83f, 401.10f, 400.37f, 399.64f, 398.92f, 398.19f, 397.46f, 396.73f},
47  {419.30f, 418.57f, 417.84f, 417.12f, 416.39f, 415.66f, 414.93f, 414.20f,
48  413.48f, 412.75f, 412.02f, 411.29f, 410.56f, 409.84f, 409.11f, 408.38f,
49  407.65f, 406.92f, 406.20f, 405.47f, 404.74f, 404.01f, 403.28f, 402.56f,
50  401.83f, 401.10f, 400.37f, 399.64f, 398.92f, 398.19f, 397.46f, 396.73f},
51  {396.00f, 395.28f, 394.55f, 393.82f, 393.09f, 392.36f, 391.64f, 390.91f,
52  390.18f, 389.45f, 388.72f, 388.00f, 387.27f, 386.54f, 385.81f, 385.08f,
53  384.36f, 383.63f, 382.90f, 382.17f, 381.44f, 380.72f, 379.99f, 379.26f,
54  378.53f, 377.80f, 377.08f, 376.35f, 375.62f, 374.89f, 374.16f, 373.44f},
55  {396.00f, 395.28f, 394.55f, 393.82f, 393.09f, 392.36f, 391.64f, 390.91f,
56  390.18f, 389.45f, 388.72f, 388.00f, 387.27f, 386.54f, 385.81f, 385.08f,
57  384.36f, 383.63f, 382.90f, 382.17f, 381.44f, 380.72f, 379.99f, 379.26f,
58  378.53f, 377.80f, 377.08f, 376.35f, 375.62f, 374.89f, 374.16f, 373.44f},
59  {372.71f, 371.98f, 371.25f, 370.52f, 369.80f, 369.07f, 368.34f, 367.61f,
60  366.88f, 366.16f, 365.43f, 364.70f, 363.97f, 363.24f, 362.52f, 361.79f,
61  361.06f, 360.33f, 359.60f, 358.88f, 358.15f, 357.42f, 356.69f, 355.96f,
62  355.24f, 354.51f, 353.78f, 353.05f, 352.32f, 351.60f, 350.87f, 350.14f},
63  {372.71f, 371.98f, 371.25f, 370.52f, 369.80f, 369.07f, 368.34f, 367.61f,
64  366.88f, 366.16f, 365.43f, 364.70f, 363.97f, 363.24f, 362.52f, 361.79f,
65  361.06f, 360.33f, 359.60f, 358.88f, 358.15f, 357.42f, 356.69f, 355.96f,
66  355.24f, 354.51f, 353.78f, 353.05f, 352.32f, 351.60f, 350.87f, 350.14f},
67  {349.41f, 348.68f, 347.96f, 347.23f, 346.50f, 345.77f, 345.04f, 344.32f,
68  343.59f, 342.86f, 342.13f, 341.40f, 340.68f, 339.95f, 339.22f, 338.49f,
69  337.76f, 337.04f, 336.31f, 335.58f, 334.85f, 334.12f, 333.40f, 332.67f,
70  331.94f, 331.21f, 330.48f, 329.76f, 329.03f, 328.30f, 327.57f, 326.84f},
71  {349.41f, 348.68f, 347.96f, 347.23f, 346.50f, 345.77f, 345.04f, 344.32f,
72  343.59f, 342.86f, 342.13f, 341.40f, 340.68f, 339.95f, 339.22f, 338.49f,
73  337.76f, 337.04f, 336.31f, 335.58f, 334.85f, 334.12f, 333.40f, 332.67f,
74  331.94f, 331.21f, 330.48f, 329.76f, 329.03f, 328.30f, 327.57f, 326.84f},
75  {326.12f, 325.39f, 324.66f, 323.93f, 323.20f, 322.48f, 321.75f, 321.02f,
76  320.29f, 319.56f, 318.84f, 318.11f, 317.38f, 316.65f, 315.92f, 315.20f,
77  314.47f, 313.74f, 313.01f, 312.28f, 311.56f, 310.83f, 310.10f, 309.37f,
78  308.64f, 307.92f, 307.19f, 306.46f, 305.73f, 305.00f, 304.28f, 303.55f},
79  {326.12f, 325.39f, 324.66f, 323.93f, 323.20f, 322.48f, 321.75f, 321.02f,
80  320.29f, 319.56f, 318.84f, 318.11f, 317.38f, 316.65f, 315.92f, 315.20f,
81  314.47f, 313.74f, 313.01f, 312.28f, 311.56f, 310.83f, 310.10f, 309.37f,
82  308.64f, 307.92f, 307.19f, 306.46f, 305.73f, 305.00f, 304.28f, 303.55f},
83  {302.82f, 302.09f, 301.36f, 300.64f, 299.91f, 299.18f, 298.45f, 297.72f,
84  297.00f, 296.27f, 295.54f, 294.81f, 294.08f, 293.36f, 292.63f, 291.90f,
85  291.17f, 290.44f, 289.72f, 288.99f, 288.26f, 287.53f, 286.80f, 286.08f,
86  285.35f, 284.62f, 283.89f, 283.16f, 282.44f, 281.71f, 280.98f, 280.25f},
87  {302.82f, 302.09f, 301.36f, 300.64f, 299.91f, 299.18f, 298.45f, 297.72f,
88  297.00f, 296.27f, 295.54f, 294.81f, 294.08f, 293.36f, 292.63f, 291.90f,
89  291.17f, 290.44f, 289.72f, 288.99f, 288.26f, 287.53f, 286.80f, 286.08f,
90  285.35f, 284.62f, 283.89f, 283.16f, 282.44f, 281.71f, 280.98f, 280.25f}};
91 
92 const float INNER_TIME_64E_S3[12][32] = {
93  {172.8f, 171.5f, 170.3f, 169.1f, 165.6f, 164.3f, 163.1f, 161.9f,
94  158.4f, 157.1f, 155.9f, 154.7f, 151.2f, 149.9f, 148.7f, 147.5f,
95  144.0f, 142.7f, 141.5f, 140.3f, 136.8f, 135.5f, 134.3f, 133.1f,
96  129.6f, 128.3f, 127.1f, 125.9f, 122.4f, 121.1f, 119.9f, 118.7f},
97  {172.8f, 171.5f, 170.3f, 169.1f, 165.6f, 164.3f, 163.1f, 161.9f,
98  158.4f, 157.1f, 155.9f, 154.7f, 151.2f, 149.9f, 148.7f, 147.5f,
99  144.0f, 142.7f, 141.5f, 140.3f, 136.8f, 135.5f, 134.3f, 133.1f,
100  129.6f, 128.3f, 127.1f, 125.9f, 122.4f, 121.1f, 119.9f, 118.7f},
101  {172.8f, 171.5f, 170.3f, 169.1f, 165.6f, 164.3f, 163.1f, 161.9f,
102  158.4f, 157.1f, 155.9f, 154.7f, 151.2f, 149.9f, 148.7f, 147.5f,
103  144.0f, 142.7f, 141.5f, 140.3f, 136.8f, 135.5f, 134.3f, 133.1f,
104  129.6f, 128.3f, 127.1f, 125.9f, 122.4f, 121.1f, 119.9f, 118.7f},
105  {172.8f, 171.5f, 170.3f, 169.1f, 165.6f, 164.3f, 163.1f, 161.9f,
106  158.4f, 157.1f, 155.9f, 154.7f, 151.2f, 149.9f, 148.7f, 147.5f,
107  144.0f, 142.7f, 141.5f, 140.3f, 136.8f, 135.5f, 134.3f, 133.1f,
108  129.6f, 128.3f, 127.1f, 125.9f, 122.4f, 121.1f, 119.9f, 118.7f},
109  {115.2f, 113.9f, 112.7f, 111.5f, 108.0f, 106.7f, 105.5f, 104.3f,
110  100.8f, 99.5f, 98.3f, 97.1f, 93.6f, 92.3f, 91.1f, 89.9f,
111  86.4f, 85.1f, 83.9f, 82.7f, 79.2f, 77.9f, 76.7f, 75.5f,
112  72.0f, 70.7f, 69.5f, 68.3f, 64.8f, 63.5f, 62.3f, 61.1f},
113  {115.2f, 113.9f, 112.7f, 111.5f, 108.0f, 106.7f, 105.5f, 104.3f,
114  100.8f, 99.5f, 98.3f, 97.1f, 93.6f, 92.3f, 91.1f, 89.9f,
115  86.4f, 85.1f, 83.9f, 82.7f, 79.2f, 77.9f, 76.7f, 75.5f,
116  72.0f, 70.7f, 69.5f, 68.3f, 64.8f, 63.5f, 62.3f, 61.1f},
117  {115.2f, 113.9f, 112.7f, 111.5f, 108.0f, 106.7f, 105.5f, 104.3f,
118  100.8f, 99.5f, 98.3f, 97.1f, 93.6f, 92.3f, 91.1f, 89.9f,
119  86.4f, 85.1f, 83.9f, 82.7f, 79.2f, 77.9f, 76.7f, 75.5f,
120  72.0f, 70.7f, 69.5f, 68.3f, 64.8f, 63.5f, 62.3f, 61.1f},
121  {115.2f, 113.9f, 112.7f, 111.5f, 108.0f, 106.7f, 105.5f, 104.3f,
122  100.8f, 99.5f, 98.3f, 97.1f, 93.6f, 92.3f, 91.1f, 89.9f,
123  86.4f, 85.1f, 83.9f, 82.7f, 79.2f, 77.9f, 76.7f, 75.5f,
124  72.0f, 70.7f, 69.5f, 68.3f, 64.8f, 63.5f, 62.3f, 61.1f},
125  {57.6f, 56.3f, 55.1f, 53.9f, 50.4f, 49.1f, 47.9f, 46.7f,
126  43.2f, 41.9f, 40.7f, 39.5f, 36.0f, 34.7f, 33.5f, 32.3f,
127  28.8f, 27.5f, 26.3f, 25.1f, 21.6f, 20.3f, 19.1f, 17.9f,
128  14.4f, 13.1f, 11.9f, 10.7f, 7.2f, 5.9f, 4.7f, 3.5f},
129  {57.6f, 56.3f, 55.1f, 53.9f, 50.4f, 49.1f, 47.9f, 46.7f,
130  43.2f, 41.9f, 40.7f, 39.5f, 36.0f, 34.7f, 33.5f, 32.3f,
131  28.8f, 27.5f, 26.3f, 25.1f, 21.6f, 20.3f, 19.1f, 17.9f,
132  14.4f, 13.1f, 11.9f, 10.7f, 7.2f, 5.9f, 4.7f, 3.5f},
133  {57.6f, 56.3f, 55.1f, 53.9f, 50.4f, 49.1f, 47.9f, 46.7f,
134  43.2f, 41.9f, 40.7f, 39.5f, 36.0f, 34.7f, 33.5f, 32.3f,
135  28.8f, 27.5f, 26.3f, 25.1f, 21.6f, 20.3f, 19.1f, 17.9f,
136  14.4f, 13.1f, 11.9f, 10.7f, 7.2f, 5.9f, 4.7f, 3.5f},
137  {57.6f, 56.3f, 55.1f, 53.9f, 50.4f, 49.1f, 47.9f, 46.7f,
138  43.2f, 41.9f, 40.7f, 39.5f, 36.0f, 34.7f, 33.5f, 32.3f,
139  28.8f, 27.5f, 26.3f, 25.1f, 21.6f, 20.3f, 19.1f, 17.9f,
140  14.4f, 13.1f, 11.9f, 10.7f, 7.2f, 5.9f, 4.7f, 3.5f}};
141 
142 // micro second
143 const float INNER_TIME_HDL32E[12][32] = {
144  {543.0f, 541.0f, 540.0f, 539.0f, 538.0f, 537.0f, 536.0f, 535.0f,
145  533.0f, 532.0f, 531.0f, 530.0f, 529.0f, 528.0f, 526.0f, 525.0f,
146  524.0f, 523.0f, 522.0f, 521.0f, 520.0f, 518.0f, 517.0f, 516.0f,
147  515.0f, 514.0f, 513.0f, 511.0f, 510.0f, 509.0f, 508.0f, 507.0f},
148  {497.0f, 495.0f, 494.0f, 493.0f, 492.0f, 491.0f, 490.0f, 488.0f,
149  487.0f, 486.0f, 485.0f, 484.0f, 483.0f, 482.0f, 480.0f, 479.0f,
150  478.0f, 477.0f, 476.0f, 475.0f, 473.0f, 472.0f, 471.0f, 470.0f,
151  469.0f, 468.0f, 467.0f, 465.0f, 464.0f, 463.0f, 462.0f, 461.0f},
152  {450.0f, 449.0f, 448.0f, 447.0f, 446.0f, 445.0f, 444.0f, 442.0f,
153  441.0f, 440.0f, 439.0f, 438.0f, 437.0f, 435.0f, 434.0f, 433.0f,
154  432.0f, 431.0f, 430.0f, 429.0f, 427.0f, 426.0f, 425.0f, 424.0f,
155  423.0f, 422.0f, 420.0f, 419.0f, 418.0f, 417.0f, 416.0f, 415.0f},
156  {404.0f, 403.0f, 402.0f, 401.0f, 400.0f, 399.0f, 397.0f, 396.0f,
157  395.0f, 394.0f, 393.0f, 392.0f, 391.0f, 389.0f, 388.0f, 387.0f,
158  386.0f, 385.0f, 384.0f, 382.0f, 381.0f, 380.0f, 379.0f, 378.0f,
159  377.0f, 376.0f, 374.0f, 373.0f, 372.0f, 371.0f, 370.0f, 369.0f},
160  {358.0f, 357.0f, 356.0f, 355.0f, 354.0f, 353.0f, 351.0f, 350.0f,
161  349.0f, 348.0f, 347.0f, 346.0f, 344.0f, 343.0f, 342.0f, 341.0f,
162  340.0f, 339.0f, 338.0f, 336.0f, 335.0f, 334.0f, 333.0f, 332.0f,
163  331.0f, 329.0f, 328.0f, 327.0f, 326.0f, 325.0f, 324.0f, 323.0f},
164  {312.0f, 311.0f, 310.0f, 309.0f, 308.0f, 306.0f, 305.0f, 304.0f,
165  303.0f, 302.0f, 301.0f, 300.0f, 298.0f, 297.0f, 296.0f, 295.0f,
166  294.0f, 293.0f, 291.0f, 290.0f, 289.0f, 288.0f, 287.0f, 286.0f,
167  285.0f, 283.0f, 282.0f, 281.0f, 280.0f, 279.0f, 278.0f, 276.0f},
168  {266.0f, 265.0f, 264.0f, 263.0f, 262.0f, 260.0f, 259.0f, 258.0f,
169  257.0f, 256.0f, 255.0f, 253.0f, 252.0f, 251.0f, 250.0f, 249.0f,
170  248.0f, 247.0f, 245.0f, 244.0f, 243.0f, 242.0f, 241.0f, 240.0f,
171  238.0f, 237.0f, 236.0f, 235.0f, 234.0f, 233.0f, 232.0f, 230.0f},
172  {220.0f, 219.0f, 218.0f, 217.0f, 215.0f, 214.0f, 213.0f, 212.0f,
173  211.0f, 210.0f, 209.0f, 207.0f, 206.0f, 205.0f, 204.0f, 203.0f,
174  202.0f, 200.0f, 199.0f, 198.0f, 197.0f, 196.0f, 195.0f, 194.0f,
175  192.0f, 191.0f, 190.0f, 189.0f, 188.0f, 187.0f, 185.0f, 184.0f},
176  {174.0f, 173.0f, 172.0f, 170.0f, 169.0f, 168.0f, 167.0f, 166.0f,
177  165.0f, 164.0f, 162.0f, 161.0f, 160.0f, 159.0f, 158.0f, 157.0f,
178  156.0f, 154.0f, 153.0f, 152.0f, 151.0f, 150.0f, 149.0f, 147.0f,
179  146.0f, 145.0f, 144.0f, 143.0f, 142.0f, 141.0f, 139.0f, 138.0f},
180  {128.0f, 127.0f, 126.0f, 124.0f, 123.0f, 122.0f, 121.0f, 120.0f,
181  119.0f, 118.0f, 116.0f, 115.0f, 114.0f, 113.0f, 112.0f, 111.0f,
182  109.0f, 108.0f, 107.0f, 106.0f, 105.0f, 104.0f, 103.0f, 101.0f,
183  100.0f, 99.0f, 98.0f, 97.0f, 96.0f, 94.0f, 93.0f, 92.0f},
184  {82.0f, 81.0f, 79.0f, 78.0f, 77.0f, 76.0f, 75.0f, 74.0f,
185  73.0f, 71.0f, 70.0f, 69.0f, 68.0f, 67.0f, 66.0f, 65.0f,
186  63.0f, 62.0f, 61.0f, 60.0f, 59.0f, 58.0f, 56.0f, 55.0f,
187  54.0f, 53.0f, 52.0f, 51.0f, 50.0f, 48.0f, 47.0f, 46.0f},
188  {36.0f, 35.0f, 33.0f, 32.0f, 31.0f, 30.0f, 29.0f, 28.0f,
189  26.0f, 25.0f, 24.0f, 23.0f, 22.0f, 21.0f, 20.0f, 18.0f,
190  17.0f, 16.0f, 15.0f, 14.0f, 13.0f, 12.0f, 10.0f, 9.0f,
191  8.0f, 7.0f, 6.0f, 5.0f, 3.0f, 2.0f, 1.0f, 0.0f}};
192 
193 const float INNER_TIME_16[12][32] = {
194  {-0.0f, -2.3f, -4.61f, -6.91f, -9.22f, -11.52f, -13.82f, -16.13f,
195  -18.43f, -20.74f, -23.04f, -25.34f, -27.65f, -29.95f, -32.26f, -34.56f,
196  -55.3f, -57.6f, -59.9f, -62.21f, -64.51f, -66.82f, -69.12f, -71.42f,
197  -73.73f, -76.03f, -78.34f, -80.64f, -82.94f, -85.25f, -87.55f, -89.86f},
198  {-110.59f, -112.9f, -115.2f, -117.5f, -119.81f, -122.11f, -124.42f,
199  -126.72f, -129.02f, -131.33f, -133.63f, -135.94f, -138.24f, -140.54f,
200  -142.85f, -145.15f, -165.89f, -168.19f, -170.5f, -172.8f, -175.1f,
201  -177.41f, -179.71f, -182.02f, -184.32f, -186.62f, -188.93f, -191.23f,
202  -193.54f, -195.84f, -198.14f, -200.45f},
203  {-221.18f, -223.49f, -225.79f, -228.1f, -230.4f, -232.7f, -235.01f,
204  -237.31f, -239.62f, -241.92f, -244.22f, -246.53f, -248.83f, -251.14f,
205  -253.44f, -255.74f, -276.48f, -278.78f, -281.09f, -283.39f, -285.7f,
206  -288.0f, -290.3f, -292.61f, -294.91f, -297.22f, -299.52f, -301.82f,
207  -304.13f, -306.43f, -308.74f, -311.04f},
208  {-331.78f, -334.08f, -336.38f, -338.69f, -340.99f, -343.3f, -345.6f,
209  -347.9f, -350.21f, -352.51f, -354.82f, -357.12f, -359.42f, -361.73f,
210  -364.03f, -366.34f, -387.07f, -389.38f, -391.68f, -393.98f, -396.29f,
211  -398.59f, -400.9f, -403.2f, -405.5f, -407.81f, -410.11f, -412.42f,
212  -414.72f, -417.02f, -419.33f, -421.63f},
213  {-442.37f, -444.67f, -446.98f, -449.28f, -451.58f, -453.89f, -456.19f,
214  -458.5f, -460.8f, -463.1f, -465.41f, -467.71f, -470.02f, -472.32f,
215  -474.62f, -476.93f, -497.66f, -499.97f, -502.27f, -504.58f, -506.88f,
216  -509.18f, -511.49f, -513.79f, -516.1f, -518.4f, -520.7f, -523.01f,
217  -525.31f, -527.62f, -529.92f, -532.22f},
218  {-552.96f, -555.26f, -557.57f, -559.87f, -562.18f, -564.48f, -566.78f,
219  -569.09f, -571.39f, -573.7f, -576.0f, -578.3f, -580.61f, -582.91f,
220  -585.22f, -587.52f, -608.26f, -610.56f, -612.86f, -615.17f, -617.47f,
221  -619.78f, -622.08f, -624.38f, -626.69f, -628.99f, -631.3f, -633.6f,
222  -635.9f, -638.21f, -640.51f, -642.82f},
223  {-663.55f, -665.86f, -668.16f, -670.46f, -672.77f, -675.07f, -677.38f,
224  -679.68f, -681.98f, -684.29f, -686.59f, -688.9f, -691.2f, -693.5f,
225  -695.81f, -698.11f, -718.85f, -721.15f, -723.46f, -725.76f, -728.06f,
226  -730.37f, -732.67f, -734.98f, -737.28f, -739.58f, -741.89f, -744.19f,
227  -746.5f, -748.8f, -751.1f, -753.41f},
228  {-774.14f, -776.45f, -778.75f, -781.06f, -783.36f, -785.66f, -787.97f,
229  -790.27f, -792.58f, -794.88f, -797.18f, -799.49f, -801.79f, -804.1f,
230  -806.4f, -808.7f, -829.44f, -831.74f, -834.05f, -836.35f, -838.66f,
231  -840.96f, -843.26f, -845.57f, -847.87f, -850.18f, -852.48f, -854.78f,
232  -857.09f, -859.39f, -861.7f, -864.0f},
233  {-884.74f, -887.04f, -889.34f, -891.65f, -893.95f, -896.26f, -898.56f,
234  -900.86f, -903.17f, -905.47f, -907.78f, -910.08f, -912.38f, -914.69f,
235  -916.99f, -919.3f, -940.03f, -942.34f, -944.64f, -946.94f, -949.25f,
236  -951.55f, -953.86f, -956.16f, -958.46f, -960.77f, -963.07f, -965.38f,
237  -967.68f, -969.98f, -972.29f, -974.59f},
238  {-995.33f, -997.63f, -999.94f, -1002.24f, -1004.54f, -1006.85f,
239  -1009.15f, -1011.46f, -1013.76f, -1016.06f, -1018.37f, -1020.67f,
240  -1022.98f, -1025.28f, -1027.58f, -1029.89f, -1050.62f, -1052.93f,
241  -1055.23f, -1057.54f, -1059.84f, -1062.14f, -1064.45f, -1066.75f,
242  -1069.06f, -1071.36f, -1073.66f, -1075.97f, -1078.27f, -1080.58f,
243  -1082.88f, -1085.18f},
244  {-1105.92f, -1108.22f, -1110.53f, -1112.83f, -1115.14f, -1117.44f,
245  -1119.74f, -1122.05f, -1124.35f, -1126.66f, -1128.96f, -1131.26f,
246  -1133.57f, -1135.87f, -1138.18f, -1140.48f, -1161.22f, -1163.52f,
247  -1165.82f, -1168.13f, -1170.43f, -1172.74f, -1175.04f, -1177.34f,
248  -1179.65f, -1181.95f, -1184.26f, -1186.56f, -1188.86f, -1191.17f,
249  -1193.47f, -1195.78f},
250  {-1216.51f, -1218.82f, -1221.12f, -1223.42f, -1225.73f, -1228.03f,
251  -1230.34f, -1232.64f, -1234.94f, -1237.25f, -1239.55f, -1241.86f,
252  -1244.16f, -1246.46f, -1248.77f, -1251.07f, -1271.81f, -1274.11f,
253  -1276.42f, -1278.72f, -1281.02f, -1283.33f, -1285.63f, -1287.94f,
254  -1290.24f, -1292.54f, -1294.85f, -1297.15f, -1299.46f, -1301.76f,
255  -1304.06f, -1306.37f}};
256 
257 const float INNER_TIME_128[12][32] = {
258  {-8.7f, -8.7f, -8.7f, -8.7f, -8.7f, -8.7f, -8.7f, -8.7f,
259  -6.0f, -6.0f, -6.0f, -6.0f, -6.0f, -6.0f, -6.0f, -6.0f,
260  -3.4f, -3.4f, -3.4f, -3.4f, -3.4f, -3.4f, -3.4f, -3.4f,
261  -0.7f, -0.7f, -0.7f, -0.7f, -0.7f, -0.7f, -0.7f, -0.7f},
262  {2.0f, 2.0f, 2.0f, 2.0f, 2.0f, 2.0f, 2.0f, 2.0f, 4.6f, 4.6f, 4.6f,
263  4.6f, 4.6f, 4.6f, 4.6f, 4.6f, 7.3f, 7.3f, 7.3f, 7.3f, 7.3f, 7.3f,
264  7.3f, 7.3f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f, 10.0f},
265  {15.3f, 15.3f, 15.3f, 15.3f, 15.3f, 15.3f, 15.3f, 15.3f,
266  18.0f, 18.0f, 18.0f, 18.0f, 18.0f, 18.0f, 18.0f, 18.0f,
267  20.6f, 20.6f, 20.6f, 20.6f, 20.6f, 20.6f, 20.6f, 20.6f,
268  23.3f, 23.3f, 23.3f, 23.3f, 23.3f, 23.3f, 23.3f, 23.3f},
269  {25.9f, 25.9f, 25.9f, 25.9f, 25.9f, 25.9f, 25.9f, 25.9f,
270  28.6f, 28.6f, 28.6f, 28.6f, 28.6f, 28.6f, 28.6f, 28.6f,
271  31.3f, 31.3f, 31.3f, 31.3f, 31.3f, 31.3f, 31.3f, 31.3f,
272  33.9f, 33.9f, 33.9f, 33.9f, 33.9f, 33.9f, 33.9f, 33.9f},
273  {44.6f, 44.6f, 44.6f, 44.6f, 44.6f, 44.6f, 44.6f, 44.6f,
274  47.3f, 47.3f, 47.3f, 47.3f, 47.3f, 47.3f, 47.3f, 47.3f,
275  49.9f, 49.9f, 49.9f, 49.9f, 49.9f, 49.9f, 49.9f, 49.9f,
276  52.6f, 52.6f, 52.6f, 52.6f, 52.6f, 52.6f, 52.6f, 52.6f},
277  {55.3f, 55.3f, 55.3f, 55.3f, 55.3f, 55.3f, 55.3f, 55.3f,
278  57.9f, 57.9f, 57.9f, 57.9f, 57.9f, 57.9f, 57.9f, 57.9f,
279  60.6f, 60.6f, 60.6f, 60.6f, 60.6f, 60.6f, 60.6f, 60.6f,
280  63.3f, 63.3f, 63.3f, 63.3f, 63.3f, 63.3f, 63.3f, 63.3f},
281  {68.6f, 68.6f, 68.6f, 68.6f, 68.6f, 68.6f, 68.6f, 68.6f,
282  71.3f, 71.3f, 71.3f, 71.3f, 71.3f, 71.3f, 71.3f, 71.3f,
283  73.9f, 73.9f, 73.9f, 73.9f, 73.9f, 73.9f, 73.9f, 73.9f,
284  76.6f, 76.6f, 76.6f, 76.6f, 76.6f, 76.6f, 76.6f, 76.6f},
285  {79.2f, 79.2f, 79.2f, 79.2f, 79.2f, 79.2f, 79.2f, 79.2f,
286  81.9f, 81.9f, 81.9f, 81.9f, 81.9f, 81.9f, 81.9f, 81.9f,
287  84.6f, 84.9f, 84.9f, 84.9f, 84.9f, 84.9f, 84.9f, 84.9f,
288  87.2f, 87.2f, 87.2f, 87.2f, 87.2f, 87.2f, 87.2f, 87.2f},
289  {97.9f, 97.9f, 97.9f, 97.9f, 97.9f, 97.9f, 97.9f, 97.9f,
290  100.6f, 100.6f, 100.6f, 100.6f, 100.6f, 100.6f, 100.6f, 100.6f,
291  103.2f, 103.2f, 103.2f, 103.2f, 103.2f, 103.2f, 103.2f, 103.2f,
292  105.9f, 105.9f, 105.9f, 105.9f, 105.9f, 105.9f, 105.9f, 105.9f},
293  {108.6f, 108.6f, 108.6f, 108.6f, 108.6f, 108.6f, 108.6f, 108.6f,
294  111.2f, 111.2f, 111.2f, 111.2f, 111.2f, 111.2f, 111.2f, 111.2f,
295  113.9f, 113.9f, 113.9f, 113.9f, 113.9f, 113.9f, 113.9f, 113.9f,
296  116.6f, 116.6f, 116.6f, 116.6f, 116.6f, 116.6f, 116.6f, 116.6f},
297  {121.9f, 121.9f, 121.9f, 121.9f, 121.9f, 121.9f, 121.9f, 121.9f,
298  124.6f, 124.6f, 124.6f, 124.6f, 124.6f, 124.6f, 124.6f, 124.6f,
299  127.2f, 127.2f, 127.2f, 127.2f, 127.2f, 127.2f, 127.2f, 127.2f,
300  129.9f, 129.9f, 129.9f, 129.9f, 129.9f, 129.9f, 129.9f, 129.9f},
301  {132.5f, 132.5f, 132.5f, 132.5f, 132.5f, 132.5f, 132.5f, 132.5f,
302  135.2f, 135.2f, 135.2f, 135.2f, 135.2f, 135.2f, 135.2f, 135.2f,
303  137.9f, 137.9f, 137.9f, 137.9f, 137.9f, 137.9f, 137.9f, 137.9f,
304  140.5f, 140.5f, 140.5f, 140.5f, 140.5f, 140.5f, 140.5f, 140.5f}};
305 
306 const float INNER_TIME_VLP32C[12][32] = {
307  {0.000f, 0.000f, 2.304f, 2.304f, 4.608f, 4.608f, 6.912f, 6.912f,
308  9.216f, 9.216f, 11.520f, 11.520f, 13.824f, 13.824f, 16.128f, 16.128f,
309  18.432f, 18.432f, 20.736f, 20.736f, 23.040f, 23.040f, 25.344f, 25.344f,
310  27.648f, 27.648f, 29.952f, 29.952f, 32.256f, 32.256f, 34.560f, 34.560f},
311  {0.000f, 0.000f, 2.304f, 2.304f, 4.608f, 4.608f, 6.912f, 6.912f,
312  9.216f, 9.216f, 11.520f, 11.520f, 13.824f, 13.824f, 16.128f, 16.128f,
313  18.432f, 18.432f, 20.736f, 20.736f, 23.040f, 23.040f, 25.344f, 25.344f,
314  27.648f, 27.648f, 29.952f, 29.952f, 32.256f, 32.256f, 34.560f, 34.560f},
315  {55.296f, 55.296f, 57.600f, 57.600f, 59.904f, 59.904f, 62.208f, 62.208f,
316  64.512f, 64.512f, 66.816f, 66.816f, 69.120f, 69.120f, 71.424f, 71.424f,
317  73.728f, 73.728f, 76.032f, 76.032f, 78.336f, 78.336f, 80.640f, 80.640f,
318  82.944f, 82.944f, 85.248f, 85.248f, 87.552f, 87.552f, 89.856f, 89.856f},
319  {55.296f, 55.296f, 57.600f, 57.600f, 59.904f, 59.904f, 62.208f, 62.208f,
320  64.512f, 64.512f, 66.816f, 66.816f, 69.120f, 69.120f, 71.424f, 71.424f,
321  73.728f, 73.728f, 76.032f, 76.032f, 78.336f, 78.336f, 80.640f, 80.640f,
322  82.944f, 82.944f, 85.248f, 85.248f, 87.552f, 87.552f, 89.856f, 89.856f},
323  {110.592f, 110.592f, 112.896f, 112.896f, 115.200f, 115.200f, 117.504f,
324  117.504f, 119.808f, 119.808f, 122.112f, 122.112f, 124.416f, 124.416f,
325  126.720f, 126.720f, 129.024f, 129.024f, 131.328f, 131.328f, 133.632f,
326  133.632f, 135.936f, 135.936f, 138.240f, 138.240f, 140.544f, 140.544f,
327  142.848f, 142.848f, 145.152f, 145.152f},
328  {110.592f, 110.592f, 112.896f, 112.896f, 115.200f, 115.200f, 117.504f,
329  117.504f, 119.808f, 119.808f, 122.112f, 122.112f, 124.416f, 124.416f,
330  126.720f, 126.720f, 129.024f, 129.024f, 131.328f, 131.328f, 133.632f,
331  133.632f, 135.936f, 135.936f, 138.240f, 138.240f, 140.544f, 140.544f,
332  142.848f, 142.848f, 145.152f, 145.152f},
333  {165.888f, 165.888f, 168.192f, 168.192f, 170.496f, 170.496f, 172.800f,
334  172.800f, 175.104f, 175.104f, 177.408f, 177.408f, 179.712f, 179.712f,
335  182.016f, 182.016f, 184.320f, 184.320f, 186.624f, 186.624f, 188.928f,
336  188.928f, 191.232f, 191.232f, 193.536f, 193.536f, 195.840f, 195.840f,
337  198.144f, 198.144f, 200.448f, 200.448f},
338  {165.888f, 165.888f, 168.192f, 168.192f, 170.496f, 170.496f, 172.800f,
339  172.800f, 175.104f, 175.104f, 177.408f, 177.408f, 179.712f, 179.712f,
340  182.016f, 182.016f, 184.320f, 184.320f, 186.624f, 186.624f, 188.928f,
341  188.928f, 191.232f, 191.232f, 193.536f, 193.536f, 195.840f, 195.840f,
342  198.144f, 198.144f, 200.448f, 200.448f},
343  {221.184f, 221.184f, 223.488f, 223.488f, 225.792f, 225.792f, 228.096f,
344  228.096f, 230.400f, 230.400f, 232.704f, 232.704f, 235.008f, 235.008f,
345  237.312f, 237.312f, 239.616f, 239.616f, 241.920f, 241.920f, 244.224f,
346  244.224f, 246.528f, 246.528f, 248.832f, 248.832f, 251.136f, 251.136f,
347  253.440f, 253.440f, 255.744f, 255.744f},
348  {221.184f, 221.184f, 223.488f, 223.488f, 225.792f, 225.792f, 228.096f,
349  228.096f, 230.400f, 230.400f, 232.704f, 232.704f, 235.008f, 235.008f,
350  237.312f, 237.312f, 239.616f, 239.616f, 241.920f, 241.920f, 244.224f,
351  244.224f, 246.528f, 246.528f, 248.832f, 248.832f, 251.136f, 251.136f,
352  253.440f, 253.440f, 255.744f, 255.744f},
353  {276.480f, 276.480f, 278.784f, 278.784f, 281.088f, 281.088f, 283.392f,
354  283.392f, 285.696f, 285.696f, 288.000f, 288.000f, 290.304f, 290.304f,
355  292.608f, 292.608f, 294.912f, 294.912f, 297.216f, 297.216f, 299.520f,
356  299.520f, 301.824f, 301.824f, 304.128f, 304.128f, 306.432f, 306.432f,
357  308.736f, 308.736f, 311.040f, 311.040f},
358  {276.480f, 276.480f, 278.784f, 278.784f, 281.088f, 281.088f, 283.392f,
359  283.392f, 285.696f, 285.696f, 288.000f, 288.000f, 290.304f, 290.304f,
360  292.608f, 292.608f, 294.912f, 294.912f, 297.216f, 297.216f, 299.520f,
361  299.520f, 301.824f, 301.824f, 304.128f, 304.128f, 306.432f, 306.432f,
362  308.736f, 308.736f, 311.040f, 311.040f}};
363 
364 } // namespace velodyne
365 } // namespace drivers
366 } // namespace apollo
apollo::drivers::velodyne::INNER_TIME_128
const float INNER_TIME_128[12][32]
Definition: const_variables.h:257
apollo
PlanningContext is the runtime context in planning. It is persistent across multiple frames...
Definition: atomic_hash_map.h:25
apollo::drivers::velodyne::ORDER_64
const int ORDER_64[64]
Definition: const_variables.h:35
apollo::drivers::velodyne::INNER_TIME_HDL32E
const float INNER_TIME_HDL32E[12][32]
Definition: const_variables.h:143
apollo::drivers::velodyne::INNER_TIME_64E_S3
const float INNER_TIME_64E_S3[12][32]
Definition: const_variables.h:92
apollo::drivers::velodyne::INNER_TIME_16
const float INNER_TIME_16[12][32]
Definition: const_variables.h:193
apollo::drivers::velodyne::ORDER_16
const int ORDER_16[16]
Order array for re-ordering point cloud. Refer to Velodyne official manual.
Definition: const_variables.h:29
apollo::drivers::velodyne::ORDER_HDL32E
const int ORDER_HDL32E[32]
Definition: const_variables.h:31
apollo::drivers::velodyne::INNER_TIME_64
const float INNER_TIME_64[12][32]
Definition: const_variables.h:42
apollo::drivers::velodyne::INNER_TIME_VLP32C
const float INNER_TIME_VLP32C[12][32]
Definition: const_variables.h:306
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