brics_oodl_scanner_libs: LaserScannerData.hpp Source File

00001 #ifndef BRICS_OODL_LASERSCANNERDATA_H
00002 #define BRICS_OODL_LASERSCANNERDATA_H
00003 
00004 
00005 #include <vector>
00006 #include "generic/Units.hpp"
00007 namespace brics_oodl {
00008 
00013 class LaserScannerData {
00014   public:
00015     LaserScannerData();
00016 
00017     ~LaserScannerData();
00018 
00019     void getMesasurementIterator(std::vector< quantity<length> >::iterator& rangesIterator, std::vector< quantity<plane_angle> >::iterator& rangeAnglesIterator);
00020 
00021     void getMeasurements(std::vector< quantity<length> >& ranges, std::vector< quantity<plane_angle> >& rangeAngles) const;
00022 
00023     void setMeasurements(const std::vector< quantity<length> >& ranges, const std::vector< quantity<plane_angle> >& rangeAngles);
00024 
00025     void setMeasurements(double* ranges, double* rangeAngles, const unsigned int& numRanges, const boost::units::si::length& rangeUnit, const boost::units::si::plane_angle& angleUnit);
00026 
00027     void setMeasurements(unsigned int* ranges, double* rangeAngles, const unsigned int& numRanges, const boost::units::si::length& rangeUnit, const boost::units::si::plane_angle& angleUnit);
00028 
00029     void setMeasurements(const std::vector<double>& ranges, const std::vector<double>& rangeAngles, const boost::units::si::length& rangeUnit, const boost::units::si::plane_angle& angleUnit);
00030 
00031     quantity<si::time> getTimeStamp() const;
00032 
00033 
00034   protected:
00035     std::vector< quantity<length> > ranges;
00036 
00037     std::vector< quantity<plane_angle> > rangeAngles;
00038 
00039     quantity<si::time> timestamp;
00040 
00041 };
00042 
00043 } // namespace brics_oodl
00044 #endif