pointsensorparameters.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 G. Grisetti, R. Kuemmerle, 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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//
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#ifndef G2O_POINTSENSORPARAMETERS_H_
#define G2O_POINTSENSORPARAMETERS_H_
 
#include <cmath>
 
#include "g2o_simulator_api.h"
 
namespace g2o {
 
class G2O_SIMULATOR_API PointSensorParameters {
 public:
  // EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  PointSensorParameters();
  double maxRange() const { return sqrt(_maxRange2); }
  void setMaxRange(double maxRange_) { _maxRange2 = maxRange_ * maxRange_; }
  double minRange() const { return sqrt(_minRange2); }
  void setMinRange(double minRange_) { _minRange2 = minRange_ * minRange_; }
  double fov() const { return _fov; }
  void setFov(double fov_) { _fov = fov_; }
  double maxAngularDifference() const { return _maxAngularDifference; }
  void setMaxAngularDifference(double angularDifference) {
    _maxAngularDifference = angularDifference;
  }
 
 protected:
  double _maxRange2, _minRange2, _fov, _maxAngularDifference;
};
 
}  // namespace g2o
 
#endif