lidars: Add and update dimension parameters for Sick Tim551

diff --git a/src/lidars/lidar/lidar_params.h b/src/lidars/lidar/lidar_params.h
index 9403c56a303045720fdfc61506d064815fd54a84..c53ce62cbef3d841039a770b02b06821d7adbf0a 100644 (file)
--- a/src/lidars/lidar/lidar_params.h
+++ b/src/lidars/lidar/lidar_params.h
@@ -43,10 +43,10 @@ const struct lidar_params sick551_params = {
     SICK_INITIAL_MEASUREMENT,
     SICK_FINAL_MEASUREMENT,
     SICK_START_ANGLE,
-    SICK_RANGE_ANGLE_LEFT,
-    SICK_RANGE_ANGLE_RIGHT,
-    SICK_ORIENTATION,
-    SICK_CENTER_OFFSET_M,
+    SICK551_RANGE_ANGLE_LEFT,
+    SICK551_RANGE_ANGLE_RIGHT,
+    SICK551_ORIENTATION,
+    SICK551_CENTER_OFFSET_M,
     SICK_RANGE_DIST_MIN_M,
     SICK551_RANGE_DIST_MAX_M,
 };

diff --git a/src/robodim/robodim.h b/src/robodim/robodim.h
index 75c0690ea7f8b5eacc68be1706e6b395bae33444..bbc0879069c758044f1f15663d60c0ae3d581dcd 100644 (file)
--- a/src/robodim/robodim.h
+++ b/src/robodim/robodim.h
@@ -59,6 +59,12 @@
 #define SICK_RANGE_ANGLE_RIGHT 135.0
 #define SICK_ORIENTATION       (1)   /* 1 = screws up, -1 = screws down */
 
+#define SICK551_CENTER_OFFSET_MM         180.0
+#define SICK551_CENTER_OFFSET_M  (SICK551_CENTER_OFFSET_MM/1000.0)
+#define SICK551_RANGE_ANGLE_LEFT  135.0     /* view angle in degrees from center axis */
+#define SICK551_RANGE_ANGLE_RIGHT 135.0
+#define SICK551_ORIENTATION       (-1)   /* 1 = screws up, -1 = screws down */
+
 #define ODOMETRY_WHEEL_RADIUS_MM 30.0
 #define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
 #define ODOMETRY_ROTATION_RADIUS_MM (284.0/2.0)