/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/scanSimulator.h

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//######################################################################
//
// GraspIt!
// Copyright (C) 2002-2009  Columbia University in the City of New York.
// All rights reserved.
//
// GraspIt! is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// GraspIt! is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with GraspIt!.  If not, see <http://www.gnu.org/licenses/>.
//
// Author(s): Matei T. Ciocarlie
//
// $Id: scanSimulator.h,v 1.6 2010/08/11 21:35:22 cmatei Exp $
//
//######################################################################

#ifndef _scansimulator_h_
#define _scansimulator_h_

#include <vector>

#include "matvec3D.h"

//QT defines DEBUG as a macro, which interferes with ROS when this is used
#undef DEBUG

struct RawScanPoint {
        float hAngle,vAngle;
        float dx, dy, dz;
        float distance;
};

class ScanSimulator {
 public:
        enum Type{SCANNER_COORDINATES,WORLD_COORDINATES};
        enum AxesConvention{
          STEREO_CAMERA
        };

 private:
        position mPosition;
        vec3 mDirection;
        vec3 mUp;
        vec3 mHorizDirection;


        transf mTran;
        transf mTranInv;

        Type mType;

        float mHMin, mHMax;
        int mHLines; 
        float mVMin, mVMax;
        int mVLines;

        bool shootRay(const vec3 &rayDirection, position &rayPoint);
 public:
        ScanSimulator();
        void setPosition(transf tr, AxesConvention convention);
        void setPosition(position p, vec3 optical_axis, vec3 up_axis, AxesConvention convention);
        void setPosition(vec3 p, vec3 optical_axis, vec3 up_axis, AxesConvention convention){
          position pp(p.x(), p.y(), p.z()); 
          setPosition(pp, optical_axis, up_axis, convention);
        }
        void getPosition(position &p, vec3 &optical_axis, vec3 &up_axis){
                p = mPosition; optical_axis = mDirection; up_axis = mUp;
        }
        void setOptics( float hMin, float hMax, int hLines, 
                        float vMin, float vMax, int vLines) {
                mHMin = hMin; mHMax = hMax; mHLines = hLines;
                mVMin = vMin; mVMax = vMax; mVLines = vLines;}
        void setType(Type t){mType=t;}
        Type getType() const {return mType;}
        void computeRayDirection(float hAngle, float vAngle, vec3 &rayDirection);


        void scan(std::vector<position> *cloud, std::vector<RawScanPoint> *rawData = NULL);
};

#endif

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graspit
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autogenerated on Wed Jan 25 10:58:51 2012