LaserScanner.h
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00001 /*+-------------------------------------------------------------------------+
00002   |                       MultiVehicle simulator (libmvsim)                 |
00003   |                                                                         |
00004   | Copyright (C) 2014  Jose Luis Blanco Claraco (University of Almeria)    |
00005   | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
00006   | Distributed under GNU General Public License version 3                  |
00007   |   See <http://www.gnu.org/licenses/>                                    |
00008   +-------------------------------------------------------------------------+ */
00009 
00010 #pragma once
00011 
00012 #include <mutex>
00013 #include <mvsim/Sensors/SensorBase.h>
00014 #include <mrpt/poses/CPose2D.h>
00015 #include <mrpt/opengl/CPlanarLaserScan.h>
00016 
00017 #include <mrpt/version.h>
00018 #if MRPT_VERSION >= 0x130
00019 #include <mrpt/obs/CObservation2DRangeScan.h>
00020 using mrpt::obs::CObservation2DRangeScan;
00021 #else
00022 #include <mrpt/slam/CObservation2DRangeScan.h>
00023 using mrpt::slam::CObservation2DRangeScan;
00024 using mrpt::slam::CObservation2DRangeScanPtr;
00025 #endif
00026 
00027 namespace mvsim
00028 {
00029 class LaserScanner : public SensorBase
00030 {
00031         DECLARES_REGISTER_SENSOR(LaserScanner)
00032    public:
00033         LaserScanner(VehicleBase& parent, const rapidxml::xml_node<char>* root);
00034         virtual ~LaserScanner();
00035 
00036         virtual void loadConfigFrom(
00037                 const rapidxml::xml_node<char>* root);  
00038         virtual void gui_update(
00039                 mrpt::opengl::COpenGLScene& scene);  
00040 
00041         virtual void simul_pre_timestep(
00042                 const TSimulContext& context);  
00043         virtual void simul_post_timestep(
00044                 const TSimulContext& context);  
00045 
00046    protected:
00047         int m_z_order;  
00048         mrpt::poses::CPose2D m_sensor_pose_on_veh;
00049         std::string m_name;  
00050         double m_rangeStdNoise;
00051         double m_angleStdNoise;
00052         bool m_see_fixtures;  
00053 
00054 
00055         CObservation2DRangeScan m_scan_model;  
00056 
00057 
00058 
00059 
00060         std::mutex m_last_scan_cs;
00061         mrpt::obs::CObservation2DRangeScan::Ptr
00062                 m_last_scan;  
00063         mrpt::obs::CObservation2DRangeScan::Ptr m_last_scan2gui;
00064 
00065         bool m_gui_uptodate;  
00066 
00067         mrpt::opengl::CPlanarLaserScan::Ptr m_gl_scan;
00068 };
00069 }


mvsim
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autogenerated on Thu Jun 6 2019 22:08:35