uwsim: MultibeamSensor.h Source File

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00001 /* 
00002  * Copyright (c) 2013 University of Jaume-I.
00003  * All rights reserved. This program and the accompanying materials
00004  * are made available under the terms of the GNU Public License v3.0
00005  * which accompanies this distribution, and is available at
00006  * http://www.gnu.org/licenses/gpl.html
00007  * 
00008  * Contributors:
00009  *     Mario Prats
00010  *     Javier Perez
00011  */
00012 
00013 #ifndef MULTIBEAMSENSOR_H_
00014 #define MULTIBEAMSENSOR_H_
00015 
00016 #include "VirtualCamera.h"
00017 
00018 class MultibeamSensor
00019 {
00020   struct Remap
00021   {
00022     int pixel1, pixel2;
00023     double weight1, weight2;
00024     double distort;
00025   };
00026 
00027 public:
00028   std::vector<VirtualCamera> vcams; //Virtual Cameras
00029   std::string name, parentLinkName;
00030   int numpixels, camPixels, nCams;
00031   double range, initAngle, finalAngle, angleIncr, camsFOV;
00032   osg::ref_ptr<osg::Geode> geode; //Geometry node that draws the beam
00033   std::vector<Remap> remapVector;
00034   osg::Node *trackNode;
00035 
00036   MultibeamSensor(osg::Group *uwsim_root, std::string name, std::string parentName, osg::Node *trackNode, double initAngle, double finalAngle,
00037                   double alpha, double range, unsigned int mask, int visible,unsigned int ARMask);
00038   void preCalcTable();
00039   int getTFTransform(tf::Pose & pose, std::string & parent);
00040 };
00041 
00042 #endif