Orca Robotics

00001 #ifndef HYDROSIM2D_RANGESCANNERSIMULATOR_H
00002 #define HYDROSIM2D_RANGESCANNERSIMULATOR_H
00003 
00004 #include <hydroogmap/hydroogmap.h>
00005 #include <hydronavutil/hydronavutil.h>
00006 #include <vector>
00007 #include <hydrosim2d/irangescanpublisher.h>
00008 
00009 namespace hydrosim2d {
00010 
00014 class RangeScannerSimulator
00015 {
00016 
00017 public: 
00018 
00019     struct Config {
00020         Config() {}
00021         Config( double pMaxRange,
00022                 double pStartAngle,
00023                 double pAngleIncrement,
00024                 int    pNumReturns )
00025             : maxRange(pMaxRange),
00026               startAngle(pStartAngle),
00027               angleIncrement(pAngleIncrement),
00028               numReturns(pNumReturns)
00029             {}
00030         double maxRange;
00031         double startAngle;
00032         double angleIncrement;
00033         int    numReturns;
00034     };
00035 
00037 
00038     RangeScannerSimulator( const Config            &config,
00039                            const hydroogmap::OgMap &ogMap,
00040                            IRangeScanPublisher     &rangeScanPublisher );
00041 
00042     void getRangesFromPose( const hydronavutil::Pose &sensorPose,
00043                             std::vector<float> &ranges ) const;
00044 
00045 private: 
00046 
00047     const Config                     config_;
00048     const hydroogmap::OgMap          ogMap_;
00049     mutable hydroogmap::OgLosTracer  rayTracer_;
00050     mutable IRangeScanPublisher     &rangeScanPublisher_;
00051 };
00052 
00053 }
00054 
00055 #endif
rangescannersimulator.h
