Program Listing for File three_dimensional_lidar_frustum.hpp

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 * Author: Nicolas Varas (nicovaras@gmail.com)
 * Purpose: Structure for handling 3D Lidar FOVs to construct frustums
 *          and associated methods
 *********************************************************************/

#ifndef SPATIO_TEMPORAL_VOXEL_LAYER__FRUSTUM_MODELS__THREE_DIMENSIONAL_LIDAR_FRUSTUM_HPP_
#define SPATIO_TEMPORAL_VOXEL_LAYER__FRUSTUM_MODELS__THREE_DIMENSIONAL_LIDAR_FRUSTUM_HPP_

// M_PI
#include <cmath>
// STVL
#include "spatio_temporal_voxel_layer/frustum_models/frustum.hpp"

namespace geometry
{

// A class to model a spinning 3D Lidar frustum in world space
class ThreeDimensionalLidarFrustum : public Frustum
{
public:
  ThreeDimensionalLidarFrustum(
    const double & vFOV, const double & vFOVPadding,
    const double & hFOV, const double & min_dist, const double & max_dist);
  virtual ~ThreeDimensionalLidarFrustum(void);

  // Does nothing in 3D lidar model
  virtual void TransformModel(void);

  // determine if a point is inside of the transformed frustum
  virtual bool IsInside(const openvdb::Vec3d & pt);

  // set pose of 3d lidar in global space
  virtual void SetPosition(const geometry_msgs::msg::Point & origin);
  virtual void SetOrientation(const geometry_msgs::msg::Quaternion & quat);

private:
  // utils to find useful frustum metadata
  double Dot(const VectorWithPt3D &, const openvdb::Vec3d &) const;
  double Dot(const VectorWithPt3D &, const Eigen::Vector3d &) const;

  double _vFOV, _vFOVPadding, _hFOV, _min_d, _max_d;
  double _hFOVhalf;
  double _min_d_squared, _max_d_squared;
  double _tan_vFOVhalf;
  double _tan_vFOVhalf_squared;
  Eigen::Vector3d _position;
  Eigen::Quaterniond _orientation;
  Eigen::Quaterniond _orientation_conjugate;
  bool _valid_frustum;
  bool _full_hFOV;
};

}  // namespace geometry

#endif  // SPATIO_TEMPORAL_VOXEL_LAYER__FRUSTUM_MODELS__THREE_DIMENSIONAL_LIDAR_FRUSTUM_HPP_