laser2og.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 #ifndef _ORCA2_LASER2OG_H_
00011 #define _ORCA2_LASER2OG_H_
00012 
00013 // orca objects
00014 #include <orca/laserscanner2d.h>
00015 #include <orca/ogfusion.h>
00016 #include <vector>
00017 #include <hydronavutil/pose.h>
00018 #include "ogsensormodel.h"
00019 #include <orcaogfusion/orcaogfusion.h>
00020 
00021 namespace laser2og
00022 {
00023 
00024 class Laser2Og
00025 {
00026 public:
00027     Laser2Og( ogfusion::MapConfig &mapConfig,
00028               OgLaserModelConfig  &sensorConfig );
00029     ~Laser2Og();
00030 
00031     orca::OgObservation process( const hydronavutil::Pose &pose, const orca::RangeScanner2dData & scan );
00032 
00033     // If the vehicle pose uncertainty is greater than this, we shouldn't process sensor data
00034     double positionStdDevMax() const { return sensorModel_->posStDevMax(); }
00035     double headingStdDevMax() const { return sensorModel_->hedStDevMax(); }
00036 
00037 private:
00038     
00039     orca::OgObservation getObs( const ogfusion::OgBuffer &buffer );
00040 
00041     // sensor config
00042     double maxLaserRange_;
00043         
00044     // sensor model
00045     OgSensorModel* sensorModel_;
00046 
00047     // map config
00048     double mapRes_;
00049     int mapSizeX_;
00050     int mapSizeY_;
00051     double mapOriginX_;
00052     double mapOriginY_;
00053 };
00054 
00055 } // namespace
00056 
00057 #endif