Create Scan.cpp

cpp/Scan.cpp

@@ -0,0 +1,109 @@
+/**
+* 
+* \mainpage BreezySLAM: Simple, efficient SLAM in C++
+*
+* Scan.cpp - implementation for Scan class
+*
+* Copyright (C) 2014 Simon D. Levy
+
+* This code is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as 
+* published by the Free Software Foundation, either version 3 of the 
+* License, or (at your option) any later version.
+* 
+* This code is distributed in the hope that it will be useful,     
+* but WITHOUT ANY WARRANTY without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+* 
+* You should have received a copy of the GNU Lesser General Public License 
+* along with this code.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <stdio.h>
+#include <math.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <iostream>
+#include <vector>
+using namespace std; 
+
+#include "coreslam.h"
+
+#include "Velocities.hpp"
+#include "Laser.hpp"
+#include "Scan.hpp"
+
+/**
+* A class for Lidar scans.
+*/
+
+Scan::Scan(Laser * laser, int span)
+{
+    this->init(laser, span);
+}
+
+Scan::Scan(Laser * laser) 
+{
+    this->init(laser, 1);
+}
+
+
+void Scan::init(Laser * laser, int span)
+{
+    this->scan = new scan_t;
+    
+    scan_init(this->scan, laser->laser->scan_size, span);
+    
+    this->laser = new laser_t;
+    memcpy(this->laser, laser->laser, sizeof(laser_t));    
+}
+
+Scan::~Scan(void)
+{
+    scan_free(this->scan);
+    delete this->scan;
+}
+
+
+void 
+Scan::update(
+    int * scanvals_mm, 
+    double hole_width_millimeters,
+    Velocities & velocities)
+{
+    scan_update(
+        this->scan,
+        scanvals_mm,
+        *this->laser,
+        hole_width_millimeters,
+        velocities.dxy_mm,
+        velocities.dtheta_degrees);
+}
+void 
+Scan::update(
+    int * scanvals_mm, 
+    double hole_width_millimeters)
+{
+    scan_update(
+        this->scan,
+        scanvals_mm,
+        *this->laser,
+        hole_width_millimeters,
+        0,
+        0);
+}
+
+ostream& operator<< (ostream & out, Scan & scan)
+{
+    char str[512];
+    
+    scan_string(*scan.scan, str);
+    
+    out << str;
+    
+    return out;
+}
+
+