laserscan.h

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// Copyright (c) 2020-2021 Pilz GmbH & Co. KG
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef PSEN_SCAN_V2_STANDALONE_LASERSCAN_H
#define PSEN_SCAN_V2_STANDALONE_LASERSCAN_H
 
#include <cstdint>
#include <ostream>
#include <vector>
 
#include "psen_scan_v2_standalone/configuration/scanner_ids.h"
#include "psen_scan_v2_standalone/io_state.h"
#include "psen_scan_v2_standalone/util/tenth_of_degree.h"
 
namespace psen_scan_v2_standalone
{
class LaserScan
{
public:
  using MeasurementData = std::vector<double>;
  using IntensityData = std::vector<double>;
  using IOData = std::vector<IOState>;
 
public:
  LaserScan(const util::TenthOfDegree& resolution,
            const util::TenthOfDegree& min_scan_angle,
            const util::TenthOfDegree& max_scan_angle,
            const uint32_t scan_counter,
            const uint8_t active_zoneset,
            const int64_t timestamp,
            const configuration::ScannerId scanner_id);
 
public:
  [[deprecated("use const util::TenthOfDegree& scanResolution() const instead")]] const util::TenthOfDegree&
  getScanResolution() const;
  const util::TenthOfDegree& scanResolution() const;
 
  [[deprecated("use const util::TenthOfDegree& minScanAngle() const instead")]] const util::TenthOfDegree&
  getMinScanAngle() const;
  const util::TenthOfDegree& minScanAngle() const;
 
  [[deprecated("use const util::TenthOfDegree& maxScanAngle() const instead")]] const util::TenthOfDegree&
  getMaxScanAngle() const;
  const util::TenthOfDegree& maxScanAngle() const;
 
  [[deprecated("use uint32_t scanCounter() const instead")]] uint32_t getScanCounter() const;
  uint32_t scanCounter() const;
 
  [[deprecated("use uint8_t activeZoneset() const instead")]] uint8_t getActiveZoneset() const;
  uint8_t activeZoneset() const;
 
  [[deprecated("use int64_t timestamp() const instead")]] int64_t getTimestamp() const;
  int64_t timestamp() const;
 
  [[deprecated("use const MeasurementData& measurements() const instead")]] const MeasurementData&
  getMeasurements() const;
  const MeasurementData& measurements() const;
 
  [[deprecated("use MeasurementData& measurements() instead")]] MeasurementData& getMeasurements();
  MeasurementData& measurements();
 
  [[deprecated("use void measurements(const MeasurementData& measurements) instead")]] void
  setMeasurements(const MeasurementData& measurements);
  void measurements(const MeasurementData& measurements);
 
  [[deprecated("use const IntensityData& intensities() const instead")]] const IntensityData& getIntensities() const;
  const IntensityData& intensities() const;
 
  configuration::ScannerId scannerId() const;
 
  [[deprecated("use void intensities(const IntensityData& intensities)) instead")]] void
  setIntensities(const IntensityData& intensities);
  void intensities(const IntensityData& intensities);
 
  [[deprecated("use const IOData& ioStates() const instead")]] const IOData& getIOStates() const;
  const IOData& ioStates() const;
 
  [[deprecated("use void ioStates(const IOData& io_states) instead")]] void setIOStates(const IOData& io_states);
  void ioStates(const IOData& io_states);
 
private:
  MeasurementData measurements_;
  IntensityData intensities_;
  IOData io_states_;
  const util::TenthOfDegree resolution_;
  const util::TenthOfDegree min_scan_angle_;
  const util::TenthOfDegree max_scan_angle_;
  const uint32_t scan_counter_;
  const uint8_t active_zoneset_;
  const int64_t timestamp_;
  configuration::ScannerId scanner_id_;
};
 
std::ostream& operator<<(std::ostream& os, const LaserScan& scan);
 
}  // namespace psen_scan_v2_standalone
 
#endif  // PSEN_SCAN_V2_STANDALONE_LASERSCAN_H