Visual Servoing Platform version 3.6.0
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vpLaserScan.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Laser scan data structure.
33 *
34*****************************************************************************/
35#ifndef vpLaserScan_h
36#define vpLaserScan_h
37
45#include "visp3/sensor/vpScanPoint.h"
46
47#include <vector>
48
61class VISP_EXPORT vpLaserScan
62{
63public:
67 : listScanPoints(), startTimestamp(0), endTimestamp(0), measurementId(0), numSteps(0), startAngle(0), stopAngle(0),
68 numPoints(0)
69 {
70 }
73 : listScanPoints(scan.listScanPoints), startTimestamp(0), endTimestamp(0), measurementId(0), numSteps(0),
74 startAngle(0), stopAngle(0), numPoints(0)
75 {
76 startTimestamp = scan.startTimestamp;
77 endTimestamp = scan.endTimestamp;
78 measurementId = scan.measurementId;
79 numSteps = scan.numSteps;
80 startAngle = scan.startAngle;
81 stopAngle = scan.stopAngle;
82 numPoints = scan.numPoints;
83 }
85 virtual ~vpLaserScan(){};
87 inline void addPoint(const vpScanPoint &p) { listScanPoints.push_back(p); }
89 inline void clear() { listScanPoints.clear(); }
91 inline std::vector<vpScanPoint> getScanPoints() { return listScanPoints; }
92
93#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
94 vpLaserScan &operator=(const vpLaserScan &scan) = default;
95#endif
96
99 inline void setMeasurementId(const unsigned short &id) { this->measurementId = id; }
101 inline void setStartTimestamp(const double &start_timestamp) { this->startTimestamp = start_timestamp; }
103 inline void setEndTimestamp(const double &end_timestamp) { this->endTimestamp = end_timestamp; }
105 inline void setNumSteps(const unsigned short &num_steps) { this->numSteps = num_steps; }
107 inline void setStartAngle(const short &start_angle) { this->startAngle = start_angle; }
109 inline void setStopAngle(const short &stop_angle) { this->stopAngle = stop_angle; }
111 inline void setNumPoints(const unsigned short &num_points) { this->numPoints = num_points; }
113 inline double getStartTimestamp() { return startTimestamp; }
115 inline double getEndTimestamp() { return endTimestamp; }
116
117private:
118 std::vector<vpScanPoint> listScanPoints;
119 double startTimestamp;
120 double endTimestamp;
121 unsigned short measurementId;
122 unsigned short numSteps;
123 short startAngle;
124 short stopAngle;
125 unsigned short numPoints;
126};
127
128#endif
Implements a laser scan data structure that contains especially the list of scanned points that have ...
Definition vpLaserScan.h:62
void setNumPoints(const unsigned short &num_points)
void setStopAngle(const short &stop_angle)
void setMeasurementId(const unsigned short &id)
Definition vpLaserScan.h:99
void setNumSteps(const unsigned short &num_steps)
double getStartTimestamp()
void setStartTimestamp(const double &start_timestamp)
std::vector< vpScanPoint > getScanPoints()
Definition vpLaserScan.h:91
void addPoint(const vpScanPoint &p)
Definition vpLaserScan.h:87
void clear()
Definition vpLaserScan.h:89
vpLaserScan(const vpLaserScan &scan)
Definition vpLaserScan.h:72
void setEndTimestamp(const double &end_timestamp)
vpLaserScan & operator=(const vpLaserScan &scan)=default
void setStartAngle(const short &start_angle)
virtual ~vpLaserScan()
Definition vpLaserScan.h:85
double getEndTimestamp()
Class that defines a single laser scanner point.
Definition vpScanPoint.h:73