scan_shadows_filter.h

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 * Copyright (c) 2008 Radu Bogdan Rusu <rusu@cs.tum.edu> and other laser_filters authors
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/*
  \author Radu Bogdan Rusu <rusu@cs.tum.edu> Tully Foote <tfoote@willowgarage.com>
*/
 
#ifndef LASER_SCAN_SHADOWS_FILTER_H
#define LASER_SCAN_SHADOWS_FILTER_H
 
#include "laser_filters/scan_shadow_detector.h"
 
#include <filters/filter_base.hpp>
#include <sensor_msgs/LaserScan.h>
#include <laser_filters/ScanShadowsFilterConfig.h>
#include <dynamic_reconfigure/server.h>
 
namespace laser_filters
{
class ScanShadowsFilter : public filters::FilterBase<sensor_msgs::LaserScan>
{
public:
  double laser_max_range_;        // Used in laser scan projection
  double min_angle_, max_angle_;  // Filter angle threshold
  int window_, neighbors_;
  bool remove_shadow_start_point_;  // Whether to also remove the start point of the shadow
 
  ScanShadowDetector shadow_detector_;
 
  std::shared_ptr<dynamic_reconfigure::Server<laser_filters::ScanShadowsFilterConfig>> dyn_server_;
  boost::recursive_mutex own_mutex_;
  ScanShadowsFilterConfig param_config;
 
  ScanShadowsFilter();
  virtual ~ScanShadowsFilter();
 
  bool configure();
 
  void reconfigureCB(ScanShadowsFilterConfig& config, uint32_t level);
 
  bool update(const sensor_msgs::LaserScan& scan_in, sensor_msgs::LaserScan& scan_out);
private:
  float angle_increment_;
  std::vector<float> sin_map_;
  std::vector<float> cos_map_;
  
  void prepareForInput(const float angle_increment);
};
}
 
#endif  // LASER_SCAN_SHADOWS_FILTER_H