spindle_laser_sensor.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00008  *  Redistribution and use in source and binary forms, with or without
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00035 
00036 #ifndef JSK_RECOGNITION_UTILS_SPINDLE_LASER_SENSOR_H_
00037 #define JSK_RECOGNITION_UTILS_SPINDLE_LASER_SENSOR_H_
00038 
00039 #include "jsk_recognition_utils/sensor_model/pointcloud_sensor_model.h"
00040 
00041 namespace jsk_recognition_utils
00042 {
00043   class SpindleLaserSensor: public PointCloudSensorModel
00044   {
00045   public:
00046     typedef boost::shared_ptr<SpindleLaserSensor> Ptr;
00047     
00048     SpindleLaserSensor(const double min_angle, const double max_angle,
00049                        const double laser_freq,
00050                        const size_t point_sample):
00051       min_angle_(min_angle), max_angle_(max_angle),
00052       laser_freq_(laser_freq),
00053       point_sample_(point_sample) { }
00054     
00055     virtual void setSpindleVelocity(const double velocity)
00056     {
00057       spindle_velocity_ = spindle_velocity;
00058     }
00059 
00067     virtual double expectedPointCloudNum(double distance, double area) const
00068     {
00069       assert(spindle_velocity_ != 0.0);
00070       double dphi = 2.0 * M_PI / spindle_velocity_;
00071       return point_sample_ * laser_freq_ / (2.0 * dphi) / (distance * distance) * area;
00072     }
00073     
00074   protected:
00075     
00076     double spindle_velocity_;
00077     double min_angle_;
00078     double max_angle_;
00079     size_t point_sample_;
00080   private:
00081     
00082   };
00083 }
00084 
00085 #endif 


jsk_recognition_utils
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autogenerated on Sun Oct 8 2017 02:42:48