Gocator Line Profile Sensors: User Manual
Protocols • 625
Feature Point
Field Type Offset Description
size 32u 0 Count of bytes in message (including this field).
control 16u 4 Bit 15: Last message flag.
Bits 0-14: Message type identifier. For this message, set to 24.
id 16u 6 Feature Id
Point.x 64s 8 X Coordinate of Point (Scaled by 10^6)
Point.y 64s 16 Y Coordinate of Point (Scaled by 10^6)
Point.z 64s 24 Z Coordinate of Point (Scaled by 10^6)
Feature Line
Field Type Offset Description
size 32u 0 Count of bytes in message (including this field).
control 16u 4 Bit 15: Last message flag.
Bits 0-14: Message type identifier. For this message, set to 25.
id 16u 6 Feature Id
Point.x 64s 8 X Coordinate of Point (Scaled by 10^6)
Point.y 64s 16 Y Coordinate of Point (Scaled by 10^6)
Point.z 64s 24 Z Coordinate of Point (Scaled by 10^6)
Direction.x 64s 32 X Component of Direction Vector (Scaled by 10^6)
Direction.y 64s 40 Y Component of Direction Vector (Scaled by 10^6)
Direction.z 64s 48 Z Component of Direction Vector (Scaled by 10^6)
Feature Plane
Field Type Offset Description
size 32u 0 Count of bytes in message (including this field).
control 16u 4 Bit 15: Last message flag.
Bits 0-14: Message type identifier. For this message, set to 26.
id 16u 6 Feature Id
Normal.x 64s 8 X Component of Normal Vector (Scaled by 10^6)
Normal.y 64s 16 Y Component of Normal Vector (Scaled by 10^6)
Normal.z 64s 24 Z Component of Normal Vector (Scaled by 10^6)
originDistance 64s 32 Distance to Origin (Scaled by 10^6)
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