LaserTemplate.h

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/*
 * Copyright (C) by
 *   MetraLabs GmbH (MLAB), GERMANY
 * All rights reserved.
 *
 * Redistribution and modification of this code is strictly prohibited.
 *
 * IN NO EVENT SHALL "MLAB" BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT,
 * SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE
 * OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLABS" HS BEEN
 * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS ON AN
 * "AS IS" BASIS, AND "MLAB" HAS NO OBLIGATION TO PROVIDE MAINTENANCE,
 * SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MLAB_LASERTEMPLATE_H_
#define _MLAB_LASERTEMPLATE_H_

#include <serialization/adapters/std/vector>
#include <fw/Framework.h>

#include <localization/Curve.h>

namespace mira {
namespace localization {


class CurveTemplate : public mira::Object {
    MIRA_OBJECT(CurveTemplate)
public:
    CurveTemplate() {}
    CurveTemplate(const Curve& _c, const Pose2& _p) : c(_c), p(_p) {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Curve", c, "");
        r.member("Pose", p, "");
    }

    Curve c;  // the template as seen by the laser when the
              // robot is located at p

    Pose2 p; // the template position in world coords
};


typedef std::vector<CurveTemplate> CurveTemplates;


class LaserTemplate : public mira::Object {
    MIRA_OBJECT(LaserTemplate);
public:
    LaserTemplate() {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("MinPhi", laserMinPhi, "Minimum viewing angle of the attached range scanner");
        r.member("MaxPhi", laserMaxPhi, "Maximum viewing angle of the attached range scanner");
        r.member("Laser", laserName, "Name of the attache range scan channel");
    }

    CurveTemplates templates;
    Curve scan;          // the current laser scan

    SignedAnglef laserMinPhi;
    SignedAnglef laserMaxPhi;
    std::string  laserName;
    std::string  laserFrame;
    Time         laserTime;
    boost::optional<Pose3> laserBase;
};


}}

#endif