Radar Module
============

.. module:: mimic_data_api.radar

The radar module provides data structures for representing radar sensors,
including detection capabilities and Doppler velocity measurements.

Radar
-----

.. autoclass:: Radar
   :members:
   :undoc-members:
   :show-inheritance:

RadarIntrinsics
---------------

.. autoclass:: RadarIntrinsics
   :members:
   :undoc-members:
   :show-inheritance:

   .. rubric:: Resolution Specification

   Radar resolution is often angle-dependent. The ``azimuth_resolution`` parameter
   is specified as a list of (angle, resolution) tuples:

   .. code-block:: python

       intrinsics = RadarIntrinsics(
           range=200.0,
           azimuth_fov=2.0,
           elevation_fov=0.35,
           azimuth_resolution=[
               (0.0, 0.017),   # 1° at boresight
               (0.5, 0.026),   # 1.5° at 30° off-axis
               (1.0, 0.035)    # 2° at edge of FOV
           ],
           elevation_resolution=None,  # Non-imaging radar
           min_speed_resolution=-70.0,
           max_speed_resolution=70.0
       )

RadarPointCloudData
-------------------

.. autoclass:: RadarPointCloudData
   :members:
   :undoc-members:
   :show-inheritance:

   .. note::

      Radar point clouds typically include per-point attributes such as:
      
      - **Radial velocity**: Doppler-measured velocity component
      - **RCS**: Radar cross-section (target reflectivity)
      - **SNR**: Signal-to-noise ratio

Radar vs LiDAR Comparison
-------------------------

.. list-table::
   :widths: 25 35 40
   :header-rows: 1

   * - Property
     - Radar
     - LiDAR
   * - Velocity
     - Direct Doppler measurement
     - Computed from tracking
   * - Weather
     - Good in rain/fog/dust
     - Degraded in adverse conditions
   * - Range
     - Up to 250m+ (long range)
     - Typically 100-200m
   * - Angular resolution
     - Lower (degrees)
     - Higher (0.1° typical)
   * - Point density
     - Sparse (hundreds)
     - Dense (millions)