LaserScanner.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2020  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/opengl/CPlanarLaserScan.h>
#include <mrpt/poses/CPose2D.h>
#include <mvsim/Sensors/SensorBase.h>

#include <mutex>

namespace mvsim
{
class LaserScanner : public SensorBase
{
        DECLARES_REGISTER_SENSOR(LaserScanner)
   public:
        LaserScanner(VehicleBase& parent, const rapidxml::xml_node<char>* root);
        virtual ~LaserScanner();

        // See docs in base class
        virtual void loadConfigFrom(const rapidxml::xml_node<char>* root) override;

        virtual void simul_pre_timestep(const TSimulContext& context) override;
        virtual void simul_post_timestep(const TSimulContext& context) override;

        void poses_mutex_lock() override {}
        void poses_mutex_unlock() override {}

   protected:
        virtual void internalGuiUpdate(
                mrpt::opengl::COpenGLScene& scene, bool childrenOnly) override;

        int m_z_order;  
        mrpt::poses::CPose2D m_sensor_pose_on_veh;
        std::string m_name;  
        double m_rangeStdNoise;
        double m_angleStdNoise;
        bool m_see_fixtures;

        bool m_viz_visiblePlane = false;
        bool m_viz_visiblePoints = false;
        float m_viz_pointSize = 3.0f;

        // Store here all scan parameters. This obj will be copied as a
        // "pattern" to fill it with actual scan data.
        mrpt::obs::CObservation2DRangeScan m_scan_model;

        std::mutex m_last_scan_cs;
        mrpt::obs::CObservation2DRangeScan::Ptr m_last_scan;
        mrpt::obs::CObservation2DRangeScan::Ptr m_last_scan2gui;

        bool m_gui_uptodate = false;
        std::mutex m_gui_mtx;
        mrpt::opengl::CPlanarLaserScan::Ptr m_gl_scan;
};
}  // namespace mvsim