rangesensor.h

Go to the documentation of this file.

#ifndef RANGESENSOR_H
#define RANGESENSOR_H
 
#include <vector>
#include <gmapping/sensor/sensor_base/sensor.h>
#include <gmapping/utils/point.h>
#include <gmapping/sensor/sensor_range/sensor_range_export.h>
 
namespace GMapping{
 
class SENSOR_RANGE_EXPORT RangeSensor: public Sensor{
        friend class Configuration;
        friend class CarmenConfiguration;
        friend class CarmenWrapper;
        public:
                struct Beam{
                        OrientedPoint pose;     //pose relative to the center of the sensor
                        double span;    //spam=0 indicates a line-like beam
                        double maxRange;        //maximum range of the sensor
                        double s,c;             //sinus and cosinus of the beam (optimization);
                };      
                RangeSensor(std::string name);
                RangeSensor(std::string name, unsigned int beams, double res, const OrientedPoint& position=OrientedPoint(0,0,0), double span=0, double maxrange=89.0);
                inline const std::vector<Beam>& beams() const {return m_beams;}
                inline std::vector<Beam>& beams() {return m_beams;}
                inline OrientedPoint getPose() const {return m_pose;}
                void updateBeamsLookup();
                bool newFormat;
        protected:
                OrientedPoint m_pose;
                std::vector<Beam> m_beams;
};
 
};
 
#endif