refactor(aeva)!: rename v point field to distance_rate

Author: mojomex

docs/point_types.md

@@ -57,16 +57,16 @@ These definitions can be found in the `nebula_common/include/point_types.hpp`.
 
 ## 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.       |
+| 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.                                         |
+| `distance_rate` | `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.       |

nebula_common/include/nebula_common/aeva/point_types.hpp

@@ -24,7 +24,7 @@ struct EIGEN_ALIGN16 PointXYZVIRCAEDT
   float x;
   float y;
   float z;
-  float v;
+  float distance_rate;
   uint8_t intensity;
   uint8_t return_type;
   uint16_t channel;
@@ -39,7 +39,7 @@ struct EIGEN_ALIGN16 PointXYZVIRCAEDT
 
 POINT_CLOUD_REGISTER_POINT_STRUCT(  // NOLINT
   nebula::drivers::aeva::PointXYZVIRCAEDT,
-  (float, x, x)(float, y, y)(float, z, z)(float, v, v)(std::uint8_t, intensity, intensity)(
-    std::uint8_t, return_type,
-    return_type)(std::uint16_t, channel, channel)(float, azimuth, azimuth)(
-    float, elevation, elevation)(float, distance, distance)(std::uint32_t, time_stamp, time_stamp))
+  (float, x, x)(float, y, y)(float, z, z)(float, distance_rate, distance_rate)(
+    std::uint8_t, intensity, intensity)(std::uint8_t, return_type, return_type)(
+    std::uint16_t, channel, channel)(float, azimuth, azimuth)(float, elevation, elevation)(
+    float, distance, distance)(std::uint32_t, time_stamp, time_stamp))

nebula_decoders/src/nebula_decoders_aeva/aeva_aries2_decoder.cpp

@@ -54,7 +54,7 @@ void AevaAries2Decoder::processPointcloudMessage(const aeva::PointCloudMessage &
     point.y = xy_distance * std::cos(point.azimuth);
     point.z = point.distance * std::sin(point.elevation);
 
-    point.v = raw_point.velocity.value();
+    point.distance_rate = raw_point.velocity.value();
     point.intensity = raw_point.intensity;
 
     point.time_stamp = state.absolute_time_ns - cloud_state_.timestamp;