.. _program_listing_file__tmp_ws_src_laser_geometry_include_laser_geometry_laser_geometry.hpp:

Program Listing for File laser_geometry.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_laser_geometry_include_laser_geometry_laser_geometry.hpp>` (``/tmp/ws/src/laser_geometry/include/laser_geometry/laser_geometry.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2008, Willow Garage, Inc.
    * Copyright (c) 2018, Bosch Software Innovations GmbH.
    * 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 the Willow Garage, Inc. 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.
    */
   
   #ifndef LASER_GEOMETRY__LASER_GEOMETRY_HPP_
   #define LASER_GEOMETRY__LASER_GEOMETRY_HPP_
   
   #include <map>
   #include <iostream>
   #include <sstream>
   #include <string>
   
   #include <Eigen/Core>  // NOLINT (cpplint cannot handle include order here)
   
   #include "tf2/buffer_core.h"
   #include "sensor_msgs/msg/laser_scan.hpp"
   #include "sensor_msgs/msg/point_cloud2.hpp"
   #include "laser_geometry/visibility_control.hpp"
   
   namespace laser_geometry
   {
   // NOTE: invalid scan errors (will be present in LaserScan.msg in D-Turtle)
   const float LASER_SCAN_INVALID = -1.0;
   const float LASER_SCAN_MIN_RANGE = -2.0;
   const float LASER_SCAN_MAX_RANGE = -3.0;
   
   namespace channel_option
   {
   // Enumerated output channels options.
   enum ChannelOption
   {
     None = 0x00,            
     Intensity = 0x01,       
     Index     = 0x02,       
     Distance  = 0x04,       
     Timestamp = 0x08,       
     Viewpoint = 0x10,       
     Default   = (Intensity | Index)       
   };
   }  // namespace channel_option
   
   
   // TODO(Martin-Idel-SI): the support for PointCloud1 has been removed for now.
   // Refer to the GitHub issue #29: https://github.com/ros-perception/laser_geometry/issues/29
   
   class LaserProjection
   {
   public:
     LaserProjection()
     : angle_min_(0), angle_max_(0) {}
   
     // Project a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud2
     LASER_GEOMETRY_PUBLIC
     void projectLaser(
       const sensor_msgs::msg::LaserScan & scan_in,
       sensor_msgs::msg::PointCloud2 & cloud_out,
       double range_cutoff = -1.0,
       int channel_options = channel_option::Default)
     {
       projectLaser_(scan_in, cloud_out, range_cutoff, channel_options);
     }
   
     // Transform a sensor_msgs::msg::LaserScan into a sensor_msgs::msg::PointCloud2 in target frame
     LASER_GEOMETRY_PUBLIC
     void transformLaserScanToPointCloud(
       const std::string & target_frame,
       const sensor_msgs::msg::LaserScan & scan_in,
       sensor_msgs::msg::PointCloud2 & cloud_out,
       tf2::BufferCore & tf,
       double range_cutoff = -1.0,
       int channel_options = channel_option::Default)
     {
       transformLaserScanToPointCloud_(
         target_frame, scan_in, cloud_out, tf, range_cutoff, channel_options);
     }
   
   private:
     // Internal hidden representation of projectLaser
     void projectLaser_(
       const sensor_msgs::msg::LaserScan & scan_in,
       sensor_msgs::msg::PointCloud2 & cloud_out,
       double range_cutoff,
       int channel_options);
   
     // Internal hidden representation of transformLaserScanToPointCloud2
     void transformLaserScanToPointCloud_(
       const std::string & target_frame,
       const sensor_msgs::msg::LaserScan & scan_in,
       sensor_msgs::msg::PointCloud2 & cloud_out,
       tf2::BufferCore & tf,
       double range_cutoff,
       int channel_options);
   
     // Function used by the several forms of transformLaserScanToPointCloud_
     void transformLaserScanToPointCloud_(
       const std::string & target_frame,
       const sensor_msgs::msg::LaserScan & scan_in,
       sensor_msgs::msg::PointCloud2 & cloud_out,
       tf2::Quaternion quat_start,
       tf2::Vector3 origin_start,
       tf2::Quaternion quat_end,
       tf2::Vector3 origin_end,
       double range_cutoff,
       int channel_options);
   
     // Internal map of pointers to stored values
     float angle_min_;
     float angle_max_;
     Eigen::ArrayXXd co_sine_map_;
   };
   
   }  // namespace laser_geometry
   
   #endif  // LASER_GEOMETRY__LASER_GEOMETRY_HPP_