getLiDARPreperties.m

%{
 * Copyright (C) 2013-2025, The Regents of The University of Michigan.
 * All rights reserved.
 * This software was developed in the Biped Lab (https://www.biped.solutions/) 
 * under the direction of Jessy Grizzle, grizzle@umich.edu. This software may 
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 * modification, are permitted provided that the following conditions are met:
 * 1. Redistributions of source code must retain the above copyright notice, this
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 * AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
 * WEBSITE: https://www.brucerobot.com/
%}

function properties = getLiDARPreperties(type, properties)
    if ~isfield(properties ,'rpm')
        properties.rpm = 300;
    end
    
    type_low = lower(type);
    switch type_low
        case lower('UltraPuckV2')
            properties = loadVelodyneUltraPuckV2(properties);
        case lower('Other')
            
        otherwise
            error("unknown LiDAR model: %s", type)
    end
    
    
    disp("--- LiDAR properties")
    fprintf("----- Name: %s\n", properties.name)
    fprintf("----- Beam: %i\n", properties.beam)
    fprintf("----- Range: %i [m]\n", properties.range)
    fprintf("----- RPM: %i\n", properties.rpm)
    fprintf("----- Azimuth resolution: %.2f [deg]\n", properties.az_resolution)
    fprintf("----- Mechanics noise model: %i \n", properties.mechanics_noise_model)
    fprintf("----- Sensor noise: [%.4f, %.4f, %.4f] [sigma]\n", properties.noise_sigma)
    fprintf("----- Return once: %i\n", properties.return_once)
end