ScanPoint.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------

// -- END LICENSE BLOCK ------------------------------------------------

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#ifndef SICK_SAFETYSCANNERS_DATASTRUCTURE_SCANPOINT_H
#define SICK_SAFETYSCANNERS_DATASTRUCTURE_SCANPOINT_H

#include <stdint.h>

namespace sick {
namespace datastructure {

class ScanPoint
{
public:
  ScanPoint();

  ScanPoint(float angle,
            int16_t& distance,
            uint8_t& reflectivity,
            bool& valid_bit,
            bool& infinite_bit,
            bool& glare_bit,
            bool& reflector_bit,
            bool& contamination_bit,
            bool& contamination_warning_bit);

  float getAngle() const;

  uint16_t getDistance() const;

  uint8_t getReflectivity() const;

  bool getValidBit() const;

  bool getInfiniteBit() const;

  bool getGlareBit() const;

  bool getReflectorBit() const;

  bool getContaminationBit() const;

  bool getContaminationWarningBit() const;


private:
  float m_angle;
  int16_t m_distance; // in mm
  uint8_t m_reflectivity;
  bool m_valid_bit;
  bool m_infinite_bit;
  bool m_glare_bit;
  bool m_reflector_bit;
  bool m_contamination_bit;
  bool m_contamination_warning_bit;
};


} // namespace datastructure
} // namespace sick

#endif // SICK_SAFETYSCANNERS_DATASTRUCTURE_SCANPOINT_H