rangescannersimulator.h

00001 #ifndef HYDROSIM2D_RANGESCANNERSIMULATOR_H
00002 #define HYDROSIM2D_RANGESCANNERSIMULATOR_H
00003 
00004 #include <hydroogmap/hydroogmap.h>
00005 #include <hydroogmap/oglostracer.h>
00006 #include <hydronavutil/hydronavutil.h>
00007 #include <vector>
00008 #include <hydropublish/rangescanner2dpublisher.h>
00009 
00010 namespace hydrosim2d {
00011 
00017 class RangeScannerSimulator
00018 {
00019 
00020 public: 
00021 
00022     struct Config {
00023         Config() {}
00024         Config( double pMaxRange,
00025                 double pStartAngle,
00026                 double pAngleIncrement,
00027                 int    pNumReturns )
00028             : maxRange(pMaxRange),
00029               startAngle(pStartAngle),
00030               angleIncrement(pAngleIncrement),
00031               numReturns(pNumReturns)
00032             {}
00033         double maxRange;
00034         double startAngle;
00035         double angleIncrement;
00036         int    numReturns;
00037     };
00039 
00040     RangeScannerSimulator( const Config                          &config,
00041                            const hydroogmap::OgMap               &ogMap,
00042                            hydropublish::RangeScanner2dPublisher &rangeScanPublisher );
00043 
00044     void getRangesFromPose( const hydronavutil::Pose &sensorPose,
00045                             std::vector<float>       &ranges,
00046                             const hydrotime::Time    &time = hydrotime::Time(0,0) ) const;
00047 
00048 private: 
00049 
00050     const Config                                   config_;
00051     const hydroogmap::OgMap                        ogMap_;
00052     mutable hydroogmap::OgLosTracer                rayTracer_;
00053     mutable hydropublish::RangeScanner2dPublisher &rangeScanPublisher_;
00054 };
00055 
00056 bool isSane( const RangeScannerSimulator::Config &config, std::string &reason );
00057 
00058 
00059 }
00060 
00061 #endif