scan_shadow_detector.h

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/*
\author Atsushi Watanabe (SEQSENSE, Inc.)
*/
 
#ifndef SCAN_SHADOW_DETECTOR_H
#define SCAN_SHADOW_DETECTOR_H
 
#include <vector>
 
namespace laser_filters
{
class ScanShadowDetector
{
public:
  float min_angle_tan_, max_angle_tan_;  // Filter angle thresholds
 
  void configure(const float min_angle, const float max_angle);
 
  bool isShadow(const float r1, const float r2, const float included_angle);
 
  bool isShadow(float r1, float r2, float included_angle_sin, float included_angle_cos);
};
}
 
#endif  //SCAN_SHADOW_DETECTOR_H