three_dimensional_lidar_frustum.hpp

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 * Author: Nicolas Varas (nicovaras@gmail.com)
 * Purpose: Structure for handling 3D Lidar FOVs to construct frustums
 *          and associated methods
 *********************************************************************/

#ifndef THREE_DIMENSIONAL_LIDAR_FRUSTUM_H_
#define THREE_DIMENSIONAL_LIDAR_FRUSTUM_H_

// STVL
#include <spatio_temporal_voxel_layer/frustum_models/frustum.hpp>
// M_PI
#include <cmath>

namespace geometry
{

// A class to model a spinning 3D Lidar frustum in world space
class ThreeDimensionalLidarFrustum : public Frustum
{
public:
  ThreeDimensionalLidarFrustum(const double& vFOV, const double& vFOVPadding, 
          const double& hFOV, const double& min_dist, const double& max_dist);
  virtual ~ThreeDimensionalLidarFrustum(void);

  // Does nothing in 3D lidar model
  virtual void TransformModel(void);

  // determine if a point is inside of the transformed frustum
  virtual bool IsInside(const openvdb::Vec3d& pt);

  // set pose of 3d lidar in global space
  virtual void SetPosition(const geometry_msgs::Point& origin);
  virtual void SetOrientation(const geometry_msgs::Quaternion& quat);

private:
  // utils to find useful frustum metadata
  double Dot(const VectorWithPt3D&, const openvdb::Vec3d&) const;
  double Dot(const VectorWithPt3D&, const Eigen::Vector3d&) const;

  double _vFOV, _vFOVPadding, _hFOV, _min_d, _max_d;
  double _hFOVhalf;
  double _min_d_squared, _max_d_squared;
  double _tan_vFOVhalf;
  double _tan_vFOVhalf_squared;
  Eigen::Vector3d _position;
  Eigen::Quaterniond _orientation;
  Eigen::Quaterniond _orientation_conjugate;
  bool _valid_frustum;
  bool _full_hFOV;

};

} // end namespace

#endif