RangeScanInfo.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
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 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
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 */

#ifndef _MIRA_RANGESCANINFO_H_
#define _MIRA_RANGESCANINFO_H_

#include <math/Angle.h>
#include <transform/Pose.h>
#include <serialization/PropertySerializer.h>

#include <utils/IsCheapToCopy.h>

namespace mira { namespace robot {


class RangeScanInfo
{
public:

    RangeScanInfo() : 
        minimumRange(0.0f),
        maximumRange(1000.0f),
        scanTime(Duration::milliseconds(0))
    {}

    // keep using Angle for serialization compatibility
    template <typename Reflector>
    void reflectConeAngle(Reflector& r)
    {
        if (Reflector::isReadOnly::value) {
            Anglef a(coneAngle);
            r.property("ConeAngle", a,
                       "The opening angle of a single cone in [deg]",
                       PropertyHint(), REFLECT_CTRLFLAG_TEMP_TRACKING);
        } else {
            Anglef a;
            r.property("ConeAngle", a,
                       "The opening angle of a single cone in [deg]",
                       PropertyHint(), REFLECT_CTRLFLAG_TEMP_TRACKING);
            coneAngle = a.rad();
        }
    }

    void reflectConeAngle(PropertySerializer& r) {
        r.property("ConeAngle",
                   rad2degGetter(coneAngle),
                   deg2radSetter(coneAngle, Deg2RadNonNegative),
                   "The opening angle of a single cone in [deg]", PropertyHints::minimum(0.f));
    }

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        serialization::VersionType version = r.version(2, serialization::AcceptDesiredVersion(), this);

        r.property("StartAngle", startAngle,
                   "The starting orientation of the first sensor cone in [deg]");
        r.property("DeltaAngle", deltaAngle,
                   "The delta angle between neighboring cones in [deg]");
        reflectConeAngle(r);
        r.property("Aperture", aperture,
                   "The opening diameter (aperture) of the sensor in [m]");
        r.property("StdError", stdError,
                   "The measuring error of the sensor in [m]");
        r.property("MinimumRange", minimumRange,
                   "The minimum range of valid measurements "
                   "(measurements below this value result in BelowMinimum range code)");
        r.property("MaximumRange", maximumRange,
                   "The the maximum range of valid measurements "
                   "(measurements above this value result in AboveMaximum range code)");
        if (version>=2)
            r.property("ScanTime", scanTime,
                       "Duration between first and last measurement. Time between consecutive range measurement = scanTime / number of scans",
                       Duration::milliseconds(0));
    }


public:

    std::pair<float, float> getAnglesForOrientation(const Pose3& mountPosition) const;

public:
    SignedAnglef startAngle;

    SignedAnglef deltaAngle;

    float coneAngle;

    float aperture;

    float stdError;

    float minimumRange;

    float maximumRange;

    Duration scanTime;
};



} // namespace robot

template <>
class IsCheapToCopy<robot::RangeScanInfo> : public std::true_type {};


} // namespace mira

#endif