measurement_reading.h

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/*********************************************************************
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 * Author: Steve Macenski (steven.macenski@simberobotics.com)
 * Purpose: Measurement reading structure containing info needed for marking
 *          and frustum clearing.
 *********************************************************************/

#ifndef MEASUREMENT_READING_H_
#define MEASUREMENT_READING_H_
// PCL
#include <pcl/point_cloud.h>
#include <pcl_ros/point_cloud.h>
// msgs
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Quaternion.h>

enum ModelType
{
  DEPTH_CAMERA = 0,
  THREE_DIMENSIONAL_LIDAR = 1
};

namespace observation
{

// Measurement Reading
struct MeasurementReading
{
  /*****************************************************************************/
  MeasurementReading() : _cloud(new pcl::PointCloud<pcl::PointXYZ>)
  /*****************************************************************************/
  {
  }

  /*****************************************************************************/
  MeasurementReading(geometry_msgs::Point& origin, pcl::PointCloud<pcl::PointXYZ> cloud, \
            double obstacle_range, double min_z, double max_z, double vFOV,
            double vFOVPadding, double hFOV, double decay_acceleration, bool marking,
            bool clearing, ModelType model_type) :
  /*****************************************************************************/
                                      _origin(origin),                                   \
                                      _cloud(new pcl::PointCloud<pcl::PointXYZ>(cloud)), \
                                      _obstacle_range_in_m(obstacle_range),              \
                                      _min_z_in_m(min_z),                                \
                                      _max_z_in_m(max_z),                                \
                                      _vertical_fov_in_rad(vFOV),                        \
                                      _vertical_fov_padding_in_m(vFOVPadding),           \
                                      _horizontal_fov_in_rad(hFOV),                      \
                                      _decay_acceleration(decay_acceleration),           \
                                      _marking(marking),                                 \
                                      _clearing(clearing),                               \
                                      _model_type(model_type)
  {
  }

  /*****************************************************************************/
  MeasurementReading(pcl::PointCloud<pcl::PointXYZ> cld, double obstacle_range) :
                               _cloud(new pcl::PointCloud<pcl::PointXYZ>(cld)),
                               _obstacle_range_in_m(obstacle_range)
  /*****************************************************************************/
  {
  }

  /*****************************************************************************/
  MeasurementReading(const MeasurementReading& obs) :
  /*****************************************************************************/
                             _origin(obs._origin),                                      \
                             _cloud(new pcl::PointCloud<pcl::PointXYZ>(*(obs._cloud))), \
                             _obstacle_range_in_m(obs._obstacle_range_in_m),            \
                             _min_z_in_m(obs._min_z_in_m),                              \
                             _max_z_in_m(obs._max_z_in_m),                              \
                             _vertical_fov_in_rad(obs._vertical_fov_in_rad),            \
                             _vertical_fov_padding_in_m(obs._vertical_fov_padding_in_m),\
                             _horizontal_fov_in_rad(obs._horizontal_fov_in_rad),        \
                             _marking(obs._marking),                                    \
                             _clearing(obs._clearing),                                  \
                             _orientation(obs._orientation),                            \
                             _decay_acceleration(obs._decay_acceleration),              \
                             _model_type(obs._model_type)
  {
  }

  geometry_msgs::Point _origin;
  geometry_msgs::Quaternion _orientation;
  pcl::PointCloud<pcl::PointXYZ>::Ptr _cloud;
  double _obstacle_range_in_m, _min_z_in_m, _max_z_in_m;
  double _vertical_fov_in_rad, _vertical_fov_padding_in_m, _horizontal_fov_in_rad;
  double _marking, _clearing, _decay_acceleration;
  ModelType _model_type;

};

} // end namespace

#endif  // MEASUREMENT_READING_H_