// Use this for initialization
void Start()
{
// input parameter from yaml file
range = float.Parse(YamlUtility.getMessageValue("range", "Assets/Param/" + LiDAR));
maxVerticalAngle = float.Parse(YamlUtility.getMessageValue("maxVerticalAngle", "Assets/Param/" + LiDAR));
minVerticalAngle = float.Parse(YamlUtility.getMessageValue("minVerticalAngle", "Assets/Param/" + LiDAR));
verticalResolution = float.Parse(YamlUtility.getMessageValue("verticalResolution", "Assets/Param/" + LiDAR));
horizontalResolution = float.Parse(YamlUtility.getMessageValue("horizontalResolution", "Assets/Param/" + LiDAR));
accuracy = float.Parse(YamlUtility.getMessageValue("accuracy", "Assets/Param/" + LiDAR));
// frequency = float.Parse(YamlUtility.getMessageValue("frequency", "Assets/Param/" + LiDAR));
verticalFov = maxVerticalAngle - minVerticalAngle;
rayChannels = (int)(verticalFov / verticalResolution);
timeSpan = (1f / (float)frequency) / horizontalSplit;
Time.fixedDeltaTime = timeSpan;
initialVector = new Vector3(0f, 0f, 1f);
sw = new StreamWriter(@"saveData.csv", false, Encoding.GetEncoding("UTF-8"));
rotCount = 0f;
chunkAngle = 360f / (float)horizontalSplit;
writeFlag = (int)(360f / chunkAngle);
}
