SysGroundSurfaceParamsMessage.hh

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#ifndef LibMultiSense_SysGroundSurfaceParamsMessage
#define LibMultiSense_SysGroundSurfaceParamsMessage

#include <algorithm>
#include <string>
#include "Protocol.hh"
#include "../utility/BufferStream.hh"

namespace crl {
namespace multisense {
namespace details {
namespace wire {

class SysGroundSurfaceParams {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_SYS_GROUND_SURFACE_PARAM;
    static CRL_CONSTEXPR VersionType VERSION = 1;

    int ground_surface_number_of_levels_x;
    int ground_surface_number_of_levels_z;
    int ground_surface_base_model;
    float ground_surface_pointcloud_grid_size;
    int ground_surface_min_points_per_grid;
    int ground_surface_pointcloud_decimation;
    float ground_surface_pointcloud_max_range_m;
    float ground_surface_pointcloud_min_range_m;
    float ground_surface_pointcloud_max_width_m;
    float ground_surface_pointcloud_min_width_m;
    float ground_surface_pointcloud_max_height_m;
    float ground_surface_pointcloud_min_height_m;
    float ground_surface_obstacle_height_thresh_m;
    float ground_surface_obstacle_percentage_thresh;
    int ground_surface_max_fitting_iterations;
    float ground_surface_adjacent_cell_search_size_m;

    //
    // Constructors
    //
    SysGroundSurfaceParams(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    SysGroundSurfaceParams()
    {
        ground_surface_number_of_levels_x = 4;
        ground_surface_number_of_levels_z = 4;
        ground_surface_base_model = 1;
        ground_surface_pointcloud_grid_size = 0.5;
        ground_surface_min_points_per_grid = 10;
        ground_surface_pointcloud_decimation = 1;
        ground_surface_pointcloud_max_range_m = 30.0;
        ground_surface_pointcloud_min_range_m = 0.5;
        ground_surface_pointcloud_max_width_m = 25.0;
        ground_surface_pointcloud_min_width_m = -25.0;
        ground_surface_pointcloud_max_height_m = 10.0;
        ground_surface_pointcloud_min_height_m = -10.0;
        ground_surface_obstacle_height_thresh_m = 2.0;
        ground_surface_obstacle_percentage_thresh = 0.5;
        ground_surface_max_fitting_iterations = 10;
        ground_surface_adjacent_cell_search_size_m = 1.5;
    };

    //
    // Serialization routine

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;

        message & ground_surface_number_of_levels_x;
        message & ground_surface_number_of_levels_z;
        message & ground_surface_base_model;
        message & ground_surface_pointcloud_grid_size;
        message & ground_surface_min_points_per_grid;
        message & ground_surface_pointcloud_decimation;
        message & ground_surface_pointcloud_max_range_m;
        message & ground_surface_pointcloud_min_range_m;
        message & ground_surface_pointcloud_max_width_m;
        message & ground_surface_pointcloud_min_width_m;
        message & ground_surface_pointcloud_max_height_m;
        message & ground_surface_pointcloud_min_height_m;
        message & ground_surface_obstacle_height_thresh_m;
        message & ground_surface_obstacle_percentage_thresh;
        message & ground_surface_max_fitting_iterations;
        message & ground_surface_adjacent_cell_search_size_m;
    }

};

}}}} // namespaces

#endif