rangereading.h

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#ifndef RANGEREADING_H
#define RANGEREADING_H

#include <vector>
#include <gmapping/sensor/sensor_base/sensorreading.h>
#include <gmapping/sensor/sensor_range/rangesensor.h>

namespace GMapping{

class RangeReading: public SensorReading, public std::vector<double>{
        public:
                RangeReading(const RangeSensor* rs, double time=0);
                RangeReading(unsigned int n_beams, const double* d, const RangeSensor* rs, double time=0);
                virtual ~RangeReading();
                inline const OrientedPoint& getPose() const {return m_pose;}
                inline void setPose(const OrientedPoint& pose) {m_pose=pose;}
                unsigned int rawView(double* v, double density=0.) const;
                std::vector<Point> cartesianForm(double maxRange=1e6) const;
                unsigned int activeBeams(double density=0.) const;
        protected:
                OrientedPoint m_pose;
};

};

#endif