laser_data.h

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#ifndef H_LASER_DATA
#define H_LASER_DATA

#include <sys/time.h>
#include <stdio.h>

#include "restrict.h"

struct correspondence;

typedef struct {
        double p[2];
        double rho, phi;
} point2d;

struct laser_data {
        int nrays;
        double  min_theta;
        double  max_theta;
        
        double * restrict theta;
        
        int    * restrict valid;
        double * restrict readings;
        
        int    * restrict cluster;
        
        double * restrict alpha;
        double * restrict cov_alpha;
        int    * restrict alpha_valid;

        double * restrict readings_sigma;

        double * restrict true_alpha;
        
        struct correspondence*  restrict corr;

        double true_pose[3];            
        double odometry[3];     
        double estimate[3];     
        

        point2d *  restrict points;
        point2d *  restrict points_w;

        struct timeval tv;
        char hostname[32];


        /* Jump tables needed by find_correspondences_tricks(). */
        int * restrict up_bigger, 
            * restrict up_smaller, 
            * restrict down_bigger, 
            * restrict down_smaller;    
};

struct correspondence {
        int valid; 
        int j1;
        int j2;
        enum { corr_pp = 0, corr_pl = 1} type;
        double dist2_j1; 
};

typedef struct laser_data* LDP;

LDP ld_alloc_new(int nrays);

void ld_free(LDP);

void ld_alloc(LDP, int nrays);

void ld_dealloc(LDP);

void ld_compute_cartesian(LDP);

void ld_compute_world_coords(LDP, const double *pose);

void ld_create_jump_tables(LDP);

unsigned int ld_corr_hash(LDP);

int ld_num_valid_correspondences(LDP);

int ld_valid_fields(LDP);

void ld_simple_clustering(LDP ld, double threshold);

void ld_compute_orientation(LDP ld, int size_neighbourhood, double sigma);




LDP ld_read_smart(FILE*);

LDP ld_read_smart_string(const char*);


int ld_read_next_laser_carmen(FILE*, LDP*ld);

LDP ld_from_carmen_string(const char*line);

int ld_read_all(FILE*file, LDP **array, int*num);

int ld_read_some_scans(FILE*file, LDP **array, int*num, int interval);

void ld_write_as_carmen(LDP ld, FILE * stream);

void ld_write_format(LDP ld, FILE*stream, const char * out_format);


void possible_interval(
        const double *p_i_w, LDP laser_sens, 
        double max_angular_correction_deg, double max_linear_correction, int*from, int*to, int*start_cell);


#include "laser_data_inline.h"

#endif