A single rotating wedge prism in a Risley-prism beam deflector. More...

#include <LiDAR.h>

Public Member Functions
	RisleyPrism ()
	Default Risley prism (no deflection)

	RisleyPrism (double wedge_angle, double refractive_index, double rotor_rate, double phase=0.0)
	Construct a Risley prism.

Data Fields
double	wedge_angle
	Wedge (inclination) angle of the prism in radians.

double	refractive_index
	Refractive index of the prism glass.

double	rotor_rate
	Rotation rate of the prism about the optical axis in radians per second (sign sets the rotation direction)

double	phase
	Initial clocking angle of the wedge about the optical axis in radians at scan time t=0.

Detailed Description

A single rotating wedge prism in a Risley-prism beam deflector.

One element of the rotating-prism stack used by a SCAN_PATTERN_RISLEY_PRISM scan. Each prism is a glass wedge with one face perpendicular to the optical axis and one face tilted by the wedge angle; it deflects the transmitted beam by refraction and rotates continuously about the optical axis. A pair of such prisms with different (and generally incommensurate) rotation rates traces the characteristic non-repetitive rosette of a Livox sensor. The beam direction is computed by non-paraxial ray tracing - refracting the beam through both faces of each prism with the vector form of Snell's law - so the maximum beam deflection, and therefore the circular field of view, is an emergent property of the wedge angles and refractive indices, not a directly specified parameter.

Definition at line 291 of file LiDAR.h.

Constructor & Destructor Documentation

◆ RisleyPrism() [1/2]

RisleyPrism::RisleyPrism ( )

inline

Default Risley prism (no deflection)

Definition at line 294 of file LiDAR.h.

◆ RisleyPrism() [2/2]

RisleyPrism::RisleyPrism	(	double	wedge_angle,
		double	refractive_index,
		double	rotor_rate,
		double	phase = `0.0`
	)

inline

Construct a Risley prism.

Parameters

[in]	wedge_angle	Wedge (inclination) angle of the prism in radians
[in]	refractive_index	Refractive index of the prism glass
[in]	rotor_rate	Rotation rate of the prism about the optical axis in radians per second (the sign sets the direction of rotation; a counter-rotating pair traces a rosette)
[in]	phase	Initial clocking angle of the wedge about the optical axis in radians at scan time t=0 (defaults to 0)

Definition at line 304 of file LiDAR.h.

Field Documentation

◆ phase

double RisleyPrism::phase

Initial clocking angle of the wedge about the optical axis in radians at scan time t=0.

Definition at line 314 of file LiDAR.h.

◆ refractive_index

double RisleyPrism::refractive_index

Refractive index of the prism glass.

Definition at line 310 of file LiDAR.h.

◆ rotor_rate

double RisleyPrism::rotor_rate

Rotation rate of the prism about the optical axis in radians per second (sign sets the rotation direction)

Definition at line 312 of file LiDAR.h.

◆ wedge_angle

double RisleyPrism::wedge_angle

Wedge (inclination) angle of the prism in radians.

Definition at line 308 of file LiDAR.h.

The documentation for this struct was generated from the following file:

plugins/lidar/include/LiDAR.h

	1.3.77

Public Member Functions

Data Fields