spindle_laser_sensor.h
Go to the documentation of this file.
1 // -*- mode: c++ -*-
2 /*********************************************************************
3  * Software License Agreement (BSD License)
4  *
5  * Copyright (c) 2015, JSK Lab
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/o2r other materials provided
17  * with the distribution.
18  * * Neither the name of the JSK Lab nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  *********************************************************************/
35 
36 #ifndef JSK_RECOGNITION_UTILS_SPINDLE_LASER_SENSOR_H_
37 #define JSK_RECOGNITION_UTILS_SPINDLE_LASER_SENSOR_H_
38 
40 
41 namespace jsk_recognition_utils
42 {
44  {
45  public:
47 
48  SpindleLaserSensor(const double min_angle, const double max_angle,
49  const double laser_freq,
50  const size_t point_sample):
51  min_angle_(min_angle), max_angle_(max_angle),
52  laser_freq_(laser_freq),
53  point_sample_(point_sample) { }
54 
55  virtual void setSpindleVelocity(const double velocity)
56  {
57  spindle_velocity_ = spindle_velocity;
58  }
59 
67  virtual double expectedPointCloudNum(double distance, double area) const
68  {
69  assert(spindle_velocity_ != 0.0);
70  double dphi = 2.0 * M_PI / spindle_velocity_;
71  return point_sample_ * laser_freq_ / (2.0 * dphi) / (distance * distance) * area;
72  }
73 
74  protected:
75 
77  double min_angle_;
78  double max_angle_;
79  size_t point_sample_;
80  private:
81 
82  };
83 }
84 
85 #endif
virtual void setSpindleVelocity(const double velocity)
boost::shared_ptr< SpindleLaserSensor > Ptr
virtual double expectedPointCloudNum(double distance, double area) const
Return the expected number of points according to distance and area. it is calculated according to: {...
SpindleLaserSensor(const double min_angle, const double max_angle, const double laser_freq, const size_t point_sample)
Super class for sensor model. It provides pure virtual method for common interfaces.


jsk_recognition_utils
Author(s):
autogenerated on Fri Dec 6 2019 04:02:51