Program Listing for File measurement_reading.h

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/*********************************************************************
 *
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 * Author: Steve Macenski (steven.macenski@simberobotics.com)
 * Purpose: Measurement reading structure containing info needed for marking
 *          and frustum clearing.
 *********************************************************************/

#ifndef SPATIO_TEMPORAL_VOXEL_LAYER__MEASUREMENT_READING_H_
#define SPATIO_TEMPORAL_VOXEL_LAYER__MEASUREMENT_READING_H_

#include <memory>

// msgs
#include "geometry_msgs/msg/point.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"

enum ModelType
{
  DEPTH_CAMERA = 0,
  THREE_DIMENSIONAL_LIDAR = 1
};

namespace observation
{

// Measurement Reading
struct MeasurementReading
{
  /*****************************************************************************/
  MeasurementReading()
  /*****************************************************************************/
    : _cloud(std::make_shared < sensor_msgs::msg::PointCloud2 > ())
  {
  }

  /*****************************************************************************/
  MeasurementReading(
    geometry_msgs::msg::Point & origin, sensor_msgs::msg::PointCloud2 cloud,
    double obstacle_range, double min_z, double max_z, double vFOV,
    double vFOVPadding, double hFOV, double decay_acceleration, bool marking,
    bool clearing, ModelType model_type)
  /*****************************************************************************/
    : _origin(origin),
    _cloud(std::make_shared < sensor_msgs::msg::PointCloud2 > (cloud)),
    _obstacle_range_in_m(obstacle_range),
    _min_z_in_m(min_z),
    _max_z_in_m(max_z),
    _vertical_fov_in_rad(vFOV),
    _vertical_fov_padding_in_m(vFOVPadding),
    _horizontal_fov_in_rad(hFOV),
    _marking(marking),
    _clearing(clearing),
    _decay_acceleration(decay_acceleration),
    _model_type(model_type)
  {
  }

  /*****************************************************************************/
  MeasurementReading(sensor_msgs::msg::PointCloud2 cloud, double obstacle_range)
  /*****************************************************************************/
    : _cloud(std::make_shared < sensor_msgs::msg::PointCloud2 > (cloud)),
    _obstacle_range_in_m(obstacle_range)
  {
  }

  /*****************************************************************************/
  MeasurementReading(const MeasurementReading & obs)
  /*****************************************************************************/
    : _origin(obs._origin),
    _orientation(obs._orientation),
    _cloud(std::make_shared < sensor_msgs::msg::PointCloud2 > (*(obs._cloud))),
    _obstacle_range_in_m(obs._obstacle_range_in_m),
    _min_z_in_m(obs._min_z_in_m),
    _max_z_in_m(obs._max_z_in_m),
    _vertical_fov_in_rad(obs._vertical_fov_in_rad),
    _vertical_fov_padding_in_m(obs._vertical_fov_padding_in_m),
    _horizontal_fov_in_rad(obs._horizontal_fov_in_rad),
    _marking(obs._marking),
    _clearing(obs._clearing),
    _decay_acceleration(obs._decay_acceleration),
    _model_type(obs._model_type)
  {
  }

  geometry_msgs::msg::Point _origin;
  geometry_msgs::msg::Quaternion _orientation;
  std::shared_ptr < sensor_msgs::msg::PointCloud2 > _cloud;
  double _obstacle_range_in_m, _min_z_in_m, _max_z_in_m;
  double _vertical_fov_in_rad, _vertical_fov_padding_in_m, _horizontal_fov_in_rad;
  double _marking, _clearing, _decay_acceleration;
  ModelType _model_type;
};

}  // namespace observation

#endif  // SPATIO_TEMPORAL_VOXEL_LAYER__MEASUREMENT_READING_H_