raw_laser.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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#ifndef G2O_RAW_LASER_H
#define G2O_RAW_LASER_H
 
#include <Eigen/Core>
#include <vector>
 
#include "g2o_types_data_api.h"
#include "laser_parameters.h"
#include "robot_data.h"
 
namespace g2o {

class G2O_TYPES_DATA_API RawLaser : public RobotData {
 public:
  using Point2DVector = std::vector<Vector2>;
 
 public:
  RawLaser();
  ~RawLaser();
 
  virtual bool write(std::ostream& os) const;
  virtual bool read(std::istream& is);

  Point2DVector cartesian() const;

  const std::vector<double>& ranges() const { return _ranges; }
  void setRanges(const std::vector<double>& ranges);

  const std::vector<double>& remissions() const { return _remissions; }
  void setRemissions(const std::vector<double>& remissions);

  const LaserParameters& laserParams() const { return _laserParams; }
  void setLaserParams(const LaserParameters& laserParams);
 
 protected:
  std::vector<double> _ranges;
  std::vector<double> _remissions;
  LaserParameters _laserParams;
};
 
}  // namespace g2o
 
#endif