Ping Info Update #39
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Ping Info Update #39
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lauralindzey
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May 2, 2023
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| # the ping number reported by the sonar. | ||
| # useful for matching multiple message types for a given ping | ||
| uint64 ping_no |
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I'd prefer to spell out "number"
| # if the image is not reported at the full resolution | ||
| # ping_info.sample_rate != image_sample_rate | ||
| # for a given sample: | ||
| # 2-way travel time = image_sample_rate*(sample_no+sample0) |
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This equation doesn't match how I expect "rate" to be used -- here, image_sample_rate has units of seconds, so I'd have expected it to be called "sampling period".
can we change this to be (sample_number + sample0) / image_sample_rate?
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@CaptKrasno -- mostly looks good to me, and I appreciate the clear comments describing the rationale for each field =)
I think we should try to get this in (along with a few others) before we make an official v2 release and resubmit to rosdistro. |
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I have made the changes discussed in issues #38 #35 #33 #24
I want to do a more thorough documentation review before we merge this pull request but I figured I would post it so you @lauralindzey @rolker could take a look. No sense documenting things if we're going to change them.
I have not added steering geometry discussed in #36 to this pull request, Instead focusing on the changes to PingInfo