FieldParameter.hpp
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00001 //
00002 // FieldParameter.hpp
00003 //
00004 //  Created on: 30.08.2011
00005 //      Author: wahnfla
00006 //
00007 
00008 #ifndef FIELDPARAMETER_HPP
00009 #define FIELDPARAMETER_HPP
00010 
00011 #include "../BasicDatatypes.hpp"
00012 #include "FieldDescription.hpp"
00013 #include "Polygon2D.hpp"
00014 #include <vector>
00015 #include <stdexcept>
00016 //#include "Trace.hpp"
00017 
00018 namespace datatypes
00019 {
00020 
00021 //
00022 // Class that represents the structure of a field parameter of a scanner
00023 //
00024 class FieldParameter : public BasicData
00025 {
00026 public:
00027         enum CaseResult
00028         {
00029                 ECR_DONT_CARE = 0,
00030                 ECR_LOW = 1,
00031                 ECR_HIGH = 2,
00032                 ECR_DETECTING = 3
00033         };
00034         
00035         // These codes match the internal representation of the LD-MRS
00036         enum FieldTypeIntern
00037         {
00038                 FieldTypeIntern_RADIAL = 0,
00039                 FieldTypeIntern_RECTANGLE = 1,
00040                 FieldTypeIntern_SEGMENTED = 2,
00041                 FieldTypeintern_DYNAMIC = 3
00042         };
00043 
00044         FieldParameter();
00045         virtual ~FieldParameter();
00046         virtual const UINT32 getUsedMemory() const;
00047         UINT32 getAngleScaleFactor() const;
00048         INT32 getAngleScaleOffset() const;
00049         double getDistScaleFactor() const;
00050         double getDistScaleOffset() const;
00051         FieldDescription* getField() const;
00052         FieldTypeIntern getFieldTypeIntern() const;
00053         std::string getFieldTypeInternAsString() const;
00054         void setAngleScaleFactor(UINT32 angleScaleFactor);
00055         void setAngleScaleOffset(INT32 angleScaleOffset);
00056         void setDistScaleFactor(double distScaleFactor);
00057         void setDistScaleOffset(double distScaleOffset);
00058         void setField(FieldDescription* field);
00059         
00060         void setFieldNumber(UINT16 m_fieldNumber);
00061         const UINT16 getFieldNumber() const;
00062         const bool isValid() const;
00063         
00064         void setFieldTypeIntern(UINT8 fieldTypeIntern);
00065         void setFieldTypeIntern(FieldTypeIntern m_fieldTypeIntern);
00066         const std::string & getComment() const;
00067         const std::string & getFieldName() const;
00068         void setComment(const std::string& comment);
00069         void setFieldName(const std::string& fieldName);
00070         UINT8 getVersionNumber() const;
00071         void setVersionNumber(UINT8 m_versionNumber);
00072         CaseResult getLastKnownInfringementState() const;
00073         void setLastKnownInfringementState(CaseResult lastKnownInfringementState);
00074 
00075         bool isLayerFilterEnabled() const;
00076         void setEnableLayerFilter(bool enableLayerFilter);
00077         UINT8 getLayerFilterBitmap() const;
00078         void setLayerFilterBitmap(UINT8 layerFilterBitmap);
00079 
00080         bool empty() const
00081         {
00082                 return !m_field;
00083         }
00084 
00085         const Polygon2D & getPolygon() const
00086         {
00087                 if (empty())
00088                 {
00089                         throw std::runtime_error("FieldDescription::getPolygon(): No field available.");
00090                 }
00091                 return m_field->getFieldAsPolygon();
00092         }
00093 
00094         const FieldDescription::FieldType getFieldType() const;
00095         
00096 
00097 private:
00098         // Header data (sensor specific)
00099         double m_distScaleFactor; 
00100         double m_distScaleOffset; 
00101         UINT32 m_angleScaleFactor; 
00102         INT32 m_angleScaleOffset; 
00103         FieldTypeIntern m_fieldTypeIntern;  
00104         UINT16 m_fieldNumber;
00105         UINT8 m_versionNumber;
00106         std::string m_fieldName;
00107         std::string m_comment;
00108         FieldDescription* m_field;
00109         CaseResult m_lastKnownInfringementState;
00110         bool m_enableLayerFilter;
00111         UINT8 m_layerFilterBitmap;
00112 };
00113 
00114 } // namespace datatypes
00115 
00116 #endif // FIELDPARAMETER_HPP


libsick_ldmrs
Author(s): SICK AG , Martin G√ľnther , Jochen Sprickerhof
autogenerated on Wed Jun 14 2017 04:04:50