robot_laser.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
//   documentation and/or other materials provided with the distribution.
//
// 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
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// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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#ifndef G2O_ROBOT_LASER_H
#define G2O_ROBOT_LASER_H
 
#include "g2o/core/hyper_graph_action.h"
#include "g2o_types_data_api.h"
#include "raw_laser.h"
 
namespace g2o {

class G2O_TYPES_DATA_API RobotLaser : public RawLaser {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  RobotLaser();
  ~RobotLaser();
 
  virtual bool write(std::ostream& os) const;
  virtual bool read(std::istream& is);
 
  SE2 laserPose() const { return _odomPose * _laserParams.laserPose; }
  const SE2& odomPose() const { return _odomPose; }
  void setOdomPose(const SE2& odomPose);
 
 protected:
  SE2 _odomPose;
  double _laserTv, _laserRv, _forwardSafetyDist, _sideSafetyDist, _turnAxis;
};
 
#ifdef G2O_HAVE_OPENGL
class G2O_TYPES_DATA_API RobotLaserDrawAction : public DrawAction {
 public:
  RobotLaserDrawAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
 
 protected:
  virtual bool refreshPropertyPtrs(
      HyperGraphElementAction::Parameters* params_);
  IntProperty* _beamsDownsampling;
  FloatProperty* _pointSize;
  FloatProperty* _maxRange;
};
#endif
 
}  // namespace g2o
 
#endif