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docs(aeva): add XYZVIRCAEDT point type
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@mojomex
mojomex committed Jun 27, 2024
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Expand Up @@ -54,3 +54,19 @@ These definitions can be found in the `nebula_common/include/point_types.hpp`.
| `azimuth` | `float` | `degrees` | Contains the azimuth of the current point. |
| `distance` | `float` | `m` | Contains the distance from the sensor origin to this echo on the XY plane. |
| `timestamp` | `float` | `ns` | Contains the relative time to the triggered scan time. |

## PointXYZVIRCAEDT

| Field | Type | Units | Description |
| ------------- | -------- | ----- | --------------------------------------------------------------------------- |
| `x` | `float` | `m` | The point's cartesian x coordinate. |
| `y` | `float` | `m` | The point's cartesian y coordinate. |
| `z` | `float` | `m` | The point's cartesian z coordinate. |
| `v` | `float` | `m/s` | The point's velocity component in the direction of the sensor's origin. |
| `intensity` | `uint8` | | The intensity of the return as reported by the sensor. |
| `return type` | `uint8` | | Whether the point was the first, strongest, last, etc. of multiple returns. |
| `channel` | `uint16` | | The ID of the laser channel that produced the point. |
| `azimuth` | `float` | `rad` | The point's azimuth in polar coordinates. |
| `elevation` | `float` | `rad` | The point's elevation in polar coordinates. |
| `distance` | `float` | `m` | The point's distance from the sensor origin. |
| `timestamp` | `uint32` | `ns` | The time the point was detected relative to the pointcloud timestamp. |

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