idxOfReturn

Fully qualified name: isaacsim::sensors::rtx::idxOfReturn

inline uint32_t isaacsim::sensors::rtx::idxOfReturn(

const uint32_t beamId,

const uint32_t echoId,

const uint32_t numEchos,

const uint32_t numBeams = 0,

const uint32_t tick = 0,

)

Calculates the index of a specific return in a flattened array.

Computes the linear index for accessing a specific echo return from a multi-dimensional LiDAR data structure that has been flattened into a 1D array.

Parameters:

• beamId – [in] Identifier of the laser beam

• echoId – [in] Identifier of the echo/return within the beam

• numEchos – [in] Total number of echoes per beam

• numBeams – [in] Total number of beams (default: 0)

• tick – [in] Time tick identifier (default: 0)

Returns:

Linear index for accessing the specified return in flattened array