laser_parameters.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 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
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#ifndef G2O_LASER_PARAMETERS_H
#define G2O_LASER_PARAMETERS_H
 
#include "g2o/types/slam2d/se2.h"
#include "g2o_types_data_api.h"
 
namespace g2o {

struct G2O_TYPES_DATA_API LaserParameters {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  LaserParameters(int type, int beams, double firstBeamAngle,
                  double angularStep, double maxRange, double accuracy,
                  int remissionMode, double minRange = 0);
  LaserParameters(int beams, double firstBeamAngle, double angularStep,
                  double maxRange, double minRange = 0);
  SE2 laserPose;
  int type;
  double firstBeamAngle;
  double fov;
  double angularStep;
  double accuracy;
  int remissionMode;
  double maxRange;
  double minRange;
};
 
}  // namespace g2o
 
#endif