flirtlib: LaserReading.h Source File

00001 /*****************************************************************
00002  *
00003  * This file is part of the FLIRTLib project
00004  *
00005  * FLIRTLib Copyright (c) 2010 Gian Diego Tipaldi and Kai O. Arras 
00006  *
00007  * This software is licensed under the "Creative Commons 
00008  * License (Attribution-NonCommercial-ShareAlike 3.0)" 
00009  * and is copyrighted by Gian Diego Tipaldi and Kai O. Arras 
00010  * 
00011  * Further information on this license can be found at:
00012  * http://creativecommons.org/licenses/by-nc-sa/3.0/
00013  * 
00014  * FLIRTLib is distributed in the hope that it will be useful,
00015  * but WITHOUT ANY WARRANTY; without even the implied 
00016  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00017  * PURPOSE.  
00018  *
00019  *****************************************************************/
00020 
00021 
00022 
00023 #ifndef LASERREADING_H_
00024 #define LASERREADING_H_
00025 
00026 #include <sensors/AbstractReading.h>
00027 #include <geometry/point.h>
00028 #include <string>
00029 #include <vector>
00030 #include <cmath>
00031 
00039 class LaserReading: public AbstractReading {
00040      public:
00049         LaserReading(const std::vector<double>& _phi, const std::vector<double>& _rho,
00050                      double _time = 0.0, const std::string& _name = "ROBOTLASER1", const std::string& _robot = "");
00051         
00053         virtual ~LaserReading();
00054         
00056         virtual AbstractReading* clone() const;
00057 
00058 
00059         // Getter Methods
00061         inline const std::vector<double>& getPhi() const 
00062             {return m_phi;} 
00064         inline const std::vector<double>& getRho() const 
00065             {return m_rho;}
00067         inline unsigned int getPolar(const std::vector<double>*& _phi, const std::vector<double>*&  _rho) const 
00068             {_phi = &m_phi; _rho = &m_rho; return m_phi.size();}
00073         inline const std::vector<Point2D>& getCartesian() const
00074             {return m_cartesian;}
00079         inline const std::vector<Point2D>& getWorldCartesian() const
00080             {return m_worldCartesian;}
00082         inline const std::vector<double>& getRemission() const
00083             {return m_remission;}
00085         inline double getMaxRange() const 
00086             {return m_maxRange;}
00088         inline const OrientedPoint2D& getLaserPose() const 
00089             {return m_laserPose;}
00090         
00091 
00092         // Setter Methods
00097         void setRemission(const std::vector<double>& _remi);
00099         inline void setMaxRange(double _max)
00100             {m_maxRange = _max; computeWorldCartesian(); computeLocalCartesian();}
00102         void setLaserPose(const OrientedPoint2D& _pose); 
00103 
00104     protected:
00106         void computeWorldCartesian();
00111         void computeLocalCartesian();
00113         double m_maxRange;
00115         OrientedPoint2D m_laserPose;
00117         std::vector<double> m_phi;
00119         std::vector<double> m_rho;
00121         std::vector<Point2D> m_worldCartesian;
00123         std::vector<Point2D> m_cartesian;
00125         std::vector<double> m_remission;
00126 };
00127 
00128 #endif