LaserScanner.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014  Jose Luis Blanco Claraco (University of Almeria)    |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under GNU General Public License version 3                  |
  |   See <http://www.gnu.org/licenses/>                                    |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mutex>
#include <mvsim/Sensors/SensorBase.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/opengl/CPlanarLaserScan.h>

#include <mrpt/version.h>
#if MRPT_VERSION >= 0x130
#include <mrpt/obs/CObservation2DRangeScan.h>
using mrpt::obs::CObservation2DRangeScan;
#else
#include <mrpt/slam/CObservation2DRangeScan.h>
using mrpt::slam::CObservation2DRangeScan;
using mrpt::slam::CObservation2DRangeScanPtr;
#endif

namespace mvsim
{
class LaserScanner : public SensorBase
{
        DECLARES_REGISTER_SENSOR(LaserScanner)
   public:
        LaserScanner(VehicleBase& parent, const rapidxml::xml_node<char>* root);
        virtual ~LaserScanner();

        virtual void loadConfigFrom(
                const rapidxml::xml_node<char>* root);  
        virtual void gui_update(
                mrpt::opengl::COpenGLScene& scene);  

        virtual void simul_pre_timestep(
                const TSimulContext& context);  
        virtual void simul_post_timestep(
                const TSimulContext& context);  

   protected:
        int m_z_order;  
        mrpt::poses::CPose2D m_sensor_pose_on_veh;
        std::string m_name;  
        double m_rangeStdNoise;
        double m_angleStdNoise;
        bool m_see_fixtures;  

        CObservation2DRangeScan m_scan_model;  

        std::mutex m_last_scan_cs;
        mrpt::obs::CObservation2DRangeScan::Ptr
                m_last_scan;  
        mrpt::obs::CObservation2DRangeScan::Ptr m_last_scan2gui;

        bool m_gui_uptodate;  
        mrpt::opengl::CPlanarLaserScan::Ptr m_gl_scan;
};
}