Program Listing for File sick_nav_scandata.h
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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
/*
* sick_nav_scandata defines the data telegrams from NAV-350.
*
* Copyright (C) 2023, Ing.-Buero Dr. Michael Lehning, Hildesheim
* Copyright (C) 2023, SICK AG, Waldkirch
* All rights reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of Osnabrueck University nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
* * Neither the name of SICK AG nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
* * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Authors:
* Michael Lehning <michael.lehning@lehning.de>
*
*/
#ifndef SICK_NAV_SCANDATA_H_
#define SICK_NAV_SCANDATA_H_
#include <string>
#include <vector>
#include <sick_scan/sick_ros_wrapper.h>
namespace sick_scan_xd
{
class NAV350OptPoseData
{
public:
uint8_t outputMode = 0;
uint32_t timestamp = 0;
int32_t meanDev = 0;
uint8_t navMode = 0;
uint32_t infoState = 0;
uint8_t quantUsedReflectors = 0;
};
class NAV350PoseData
{
public:
int32_t x = 0; // x-position in mm
int32_t y = 0; // y-position in mm
uint32_t phi = 0; // orientation in 0 ... 360000 mdeg
uint16_t optPoseDataValid = 0;
NAV350OptPoseData optPoseData;
};
class NAV350CartesianData
{
public:
int32_t x = 0;
int32_t y = 0;
};
class NAV350PolarData
{
public:
uint32_t dist = 0;
uint32_t phi = 0;
};
class NAV350OptReflectorData
{
public:
uint16_t localID = 0;
uint16_t globalID = 0;
uint8_t type = 0;
uint16_t subType = 0;
uint16_t quality = 0;
uint32_t timestamp = 0;
uint16_t size = 0;
uint16_t hitCount = 0;
uint16_t meanEcho = 0;
uint16_t startIndex = 0;
uint16_t endIndex = 0;
};
class NAV350ReflectorData
{
public:
uint16_t cartesianDataValid = 0;
NAV350CartesianData cartesianData;
uint16_t polarDataValid = 0;
NAV350PolarData polarData;
uint16_t optReflectorDataValid = 0;
NAV350OptReflectorData optReflectorData;
std::string print()
{
std::stringstream s;
s << "cartesianDataValid=" << (int)cartesianDataValid << ", cartesianData.x=" << cartesianData.x << ", cartesianData.y=" << cartesianData.y
<< ", polarDataValid=" << (int)polarDataValid << ", polarData.dist=" << polarData.dist << ", polarData.phi=" << polarData.phi
<< ", optReflectorDataValid=" << (int)optReflectorDataValid << ", localID=" << optReflectorData.localID << ", globalID=" << optReflectorData.globalID << ", type=" << (int)optReflectorData.type << ", subType=" << (int)optReflectorData.subType
<< ", quality=" << optReflectorData.quality << ", timestamp=" << optReflectorData.timestamp << ", size=" << optReflectorData.size << ", hitCount=" << optReflectorData.hitCount << ", meanEcho=" << optReflectorData.meanEcho
<< ", startIndex=" << optReflectorData.startIndex << ", endIndex=" << optReflectorData.endIndex;
return s.str();
}
};
class NAV350LandmarkData
{
public:
uint8_t landmarkFilter = 0;
uint16_t numReflectors = 0;
std::vector<NAV350ReflectorData> reflectors;
};
class NAV350LandmarkDataDoMappingResponse
{
public:
uint8_t errorCode = 0;
uint16_t landmarkDataValid = 0;
NAV350LandmarkData landmarkData;
void print()
{
ROS_INFO_STREAM("NAV350LandmarkDataDoMappingResponse: errorCode=" << (int)errorCode << ", landmarkDataValid=" << (int)landmarkDataValid << ", landmarkFilter=" << (int)landmarkData.landmarkFilter << ", numReflectors=" << (int)landmarkData.numReflectors);
for(int reflector_cnt = 0; reflector_cnt < landmarkData.reflectors.size(); reflector_cnt++)
ROS_INFO_STREAM("NAV350LandmarkDataDoMappingResponse: reflector[" << reflector_cnt << "]={" << landmarkData.reflectors[reflector_cnt].print() << "}");
}
};
class NAV350ScanData
{
public:
std::string contentType = ""; // "DIST1" or "ANGL1"
float scaleFactor = 0; // multiplier, always 1 for NAV350
float scaleOffset = 0; // offset, always 0 for NAV350
int32_t startAngle = 0; // 0 ... +360000 mdeg
uint16_t angleRes = 0; // angular step, in 1/1000 deg, 250 mdeg (fix)
uint32_t timestampStart = 0; // timestamp of scan start in ms
uint16_t numData = 0; // number of scan data
std::vector<uint32_t> data; // DIST in mm or ANGL in 1/10000 degree
};
class NAV350RemissionData
{
public:
std::string contentType = ""; // "RSSI1"
float scaleFactor = 0; // multiplier, always 1 for NAV350
float scaleOffset = 0; // offset, always 0 for NAV350
int32_t startAngle = 0; // 0 ... +360000 mdeg
uint16_t angleRes = 0; // angular step, in 1/1000 deg, 250 mdeg (fix)
uint32_t timestampStart = 0; // timestamp of scan start in ms
uint16_t numData = 0; // number of scan data
std::vector<uint16_t> data; // remission data
};
class NAV350mNPOSData
{
public:
uint16_t version = 0;
uint8_t errorCode = 0;
uint8_t wait = 0;
uint8_t mask = 0;
uint16_t poseDataValid = 0;
NAV350PoseData poseData;
uint16_t landmarkDataValid = 0;
NAV350LandmarkData landmarkData;
uint16_t scanDataValid = 0;
std::vector<NAV350ScanData> scanData; // no scan data (scanDataValid = 0) or DIST1 scan data (scanDataValid = 1) or DIST1 + ANGL1 scan data (scanDataValid = 2)
uint16_t remissionDataValid = 0;
NAV350RemissionData remissionData;
float angleOffset = (float)(-M_PI);
};
class NAV350ImkLandmark
{
public:
uint16_t globID = 0;
int32_t x_mm;
int32_t y_mm;
uint8_t type = 0;
uint16_t subType = 0;
uint16_t size_mm;
std::vector<uint16_t> layerID;
};
} /* namespace sick_scan_xd */
#endif /* SICK_NAV_SCANDATA_H_ */