scan_constructor.h

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/*
 * (c) 2021-2022 Nokia
 *
 * Licensed under the BSD 3-Clause "New" or "Revised" License
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SCAN_CONSTRUCTOR_H
#define SCAN_CONSTRUCTOR_H
 
#include <laser_scan_matcher/segment_tree.h>
 
#include <vector>
#include <cmath>
 
namespace scan_tools
{
 
class ScanConstructor
{
  public:
    using grid_t = std::vector<std::vector<int> >;
    using scan_t = std::vector<double>;
    struct map_params_t
    {
      double map_res;
      int map_width;
      int map_height;
      int map_occupancy_threshold;
    };
 
    struct scan_params_t
    {
      double range_min;
      double range_max;
      double angle_min = 0;
      double angle_max = 2*M_PI;
      double angle_inc;
      double max_allowed_range;
    };
 
  public:
    ScanConstructor() = default;
    ScanConstructor(const grid_t &grid, const map_params_t &map_params);
    ScanConstructor(grid_t &&grid, const map_params_t &map_params);
 
    ScanConstructor(const ScanConstructor&) = default;
    ScanConstructor(ScanConstructor&&) = default;
 
    ScanConstructor& operator= (const ScanConstructor&) = default;
    ScanConstructor& operator= (ScanConstructor&&) = default;
 
    ~ScanConstructor() = default;
 
  public:
    const map_params_t& map_params() const {return map_params_;}
 
  public:
    scan_t constructScan(double x, double y, double yaw,
                         const scan_params_t &scan_params) const;
 
  private:
    SegmentTree segments_;
    map_params_t map_params_;
};
 
 
 
 
 
}
 
 
#endif