Update data structure to align with new message format

client.go

@@ -17,11 +17,11 @@ type UDPConn interface {
 
 // Client is a VLP-16 client.
 type Client struct {
-	conn                UDPConn
-	senderAddr          *net.UDPAddr
-	buf                 [lengthOfPacket]byte
-	packet              Packet
-	sphericalPointCloud SphericalPointCloud
+	conn       UDPConn
+	senderAddr *net.UDPAddr
+	buf        [lengthOfPacket]byte
+	packet     Packet
+	pointCloud PointCloud
 }
 
 // NewClient returns a new VLP-16 client with the provided UDP connection.
@@ -44,7 +44,7 @@ func (c *Client) Receive(ctx context.Context) error {
 		return xerrors.Errorf("VLP-16 client: receive: unexpected packet length: %d (expected %d)", n, lengthOfPacket)
 	}
 	c.packet.unmarshal(&c.buf)
-	c.sphericalPointCloud.UnmarshalPacket(&c.packet)
+	c.pointCloud.UnmarshalPacket(&c.packet)
 	return nil
 }
 
@@ -63,9 +63,9 @@ func (c *Client) Packet() *Packet {
 	return &c.packet
 }
 
-// Packet returns the last received VLP-16 packet decoded as a spherical point cloud.
-func (c *Client) SphericalPointCloud() *SphericalPointCloud {
-	return &c.sphericalPointCloud
+// PointCloud returns the point cloud representation of the last received packet.
+func (c *Client) PointCloud() *PointCloud {
+	return &c.pointCloud
 }
 
 // Close the client's underlying UDP connection.

client_test.go

@@ -41,5 +41,5 @@ func TestClient_Receive(t *testing.T) {
 	require.NoError(t, client.Receive(ctx))
 	require.Equal(t, exampleData, client.RawPacket())
 	require.Equal(t, examplePacket(), client.Packet())
-	require.Equal(t, exampleSphericalPointCloud(), client.SphericalPointCloud())
+	requirePointCloudEqual(t, exampleSphericalPointCloud(), client.PointCloud())
 }