Visual Servoing Platform version 3.5.0
vpLaserScan.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Laser scan data structure.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38#ifndef vpLaserScan_h
39#define vpLaserScan_h
40
48#include "visp3/sensor/vpScanPoint.h"
49
50#include <vector>
51
64class VISP_EXPORT vpLaserScan
65{
66public:
70 : listScanPoints(), startTimestamp(0), endTimestamp(0), measurementId(0), numSteps(0), startAngle(0), stopAngle(0),
71 numPoints(0)
72 {
73 }
76 : listScanPoints(scan.listScanPoints), startTimestamp(0), endTimestamp(0), measurementId(0), numSteps(0),
77 startAngle(0), stopAngle(0), numPoints(0)
78 {
79 startTimestamp = scan.startTimestamp;
80 endTimestamp = scan.endTimestamp;
81 measurementId = scan.measurementId;
82 numSteps = scan.numSteps;
83 startAngle = scan.startAngle;
84 stopAngle = scan.stopAngle;
85 numPoints = scan.numPoints;
86 }
88 virtual ~vpLaserScan(){};
90 inline void addPoint(const vpScanPoint &p) { listScanPoints.push_back(p); }
92 inline void clear() { listScanPoints.clear(); }
94 inline std::vector<vpScanPoint> getScanPoints() { return listScanPoints; }
95
96#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
97 vpLaserScan &operator=(const vpLaserScan &scan) = default;
98#endif
99
102 inline void setMeasurementId(const unsigned short &id) { this->measurementId = id; }
104 inline void setStartTimestamp(const double &start_timestamp) { this->startTimestamp = start_timestamp; }
106 inline void setEndTimestamp(const double &end_timestamp) { this->endTimestamp = end_timestamp; }
108 inline void setNumSteps(const unsigned short &num_steps) { this->numSteps = num_steps; }
110 inline void setStartAngle(const short &start_angle) { this->startAngle = start_angle; }
112 inline void setStopAngle(const short &stop_angle) { this->stopAngle = stop_angle; }
114 inline void setNumPoints(const unsigned short &num_points) { this->numPoints = num_points; }
116 inline double getStartTimestamp() { return startTimestamp; }
118 inline double getEndTimestamp() { return endTimestamp; }
119
120private:
121 std::vector<vpScanPoint> listScanPoints;
122 double startTimestamp;
123 double endTimestamp;
124 unsigned short measurementId;
125 unsigned short numSteps;
126 short startAngle;
127 short stopAngle;
128 unsigned short numPoints;
129};
130
131#endif
Implements a laser scan data structure that contains especially the list of scanned points that have ...
Definition: vpLaserScan.h:65
void setNumPoints(const unsigned short &num_points)
Definition: vpLaserScan.h:114
void setStopAngle(const short &stop_angle)
Definition: vpLaserScan.h:112
void setMeasurementId(const unsigned short &id)
Definition: vpLaserScan.h:102
void setNumSteps(const unsigned short &num_steps)
Definition: vpLaserScan.h:108
double getStartTimestamp()
Definition: vpLaserScan.h:116
void setStartTimestamp(const double &start_timestamp)
Definition: vpLaserScan.h:104
std::vector< vpScanPoint > getScanPoints()
Definition: vpLaserScan.h:94
void addPoint(const vpScanPoint &p)
Definition: vpLaserScan.h:90
void clear()
Definition: vpLaserScan.h:92
vpLaserScan(const vpLaserScan &scan)
Definition: vpLaserScan.h:75
void setEndTimestamp(const double &end_timestamp)
Definition: vpLaserScan.h:106
vpLaserScan & operator=(const vpLaserScan &scan)=default
void setStartAngle(const short &start_angle)
Definition: vpLaserScan.h:110
virtual ~vpLaserScan()
Definition: vpLaserScan.h:88
double getEndTimestamp()
Definition: vpLaserScan.h:118
Class that defines a single laser scanner point.
Definition: vpScanPoint.h:76