rangesensor.cpp

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#include <gmapping/sensor/sensor_range/rangesensor.h>

namespace GMapping{

RangeSensor::RangeSensor(std::string name): Sensor(name){}

RangeSensor::RangeSensor(std::string name, unsigned int beams_num, double res, const OrientedPoint& position, double span, double maxrange):Sensor(name),
        m_pose(position), m_beams(beams_num){
        double angle=-.5*res*beams_num;
        for (unsigned int i=0; i<beams_num; i++, angle+=res){
                RangeSensor::Beam& beam(m_beams[i]);
                beam.span=span;
                beam.pose.x=0;
                beam.pose.y=0;
                beam.pose.theta=angle;
                beam.maxRange=maxrange;
        }
        newFormat=0;
        updateBeamsLookup();
}

void RangeSensor::updateBeamsLookup(){
        for (unsigned int i=0; i<m_beams.size(); i++){
                RangeSensor::Beam& beam(m_beams[i]);
                beam.s=sin(m_beams[i].pose.theta);
                beam.c=cos(m_beams[i].pose.theta);
        }
}

};