86 lines
2.0 KiB
C++
86 lines
2.0 KiB
C++
/**
|
|
*
|
|
* BreezySLAM: Simple, efficient SLAM in C++
|
|
*
|
|
* Laser.cpp - C++ code for Laser model 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 <iostream>
|
|
#include <vector>
|
|
using namespace std;
|
|
|
|
#include "Laser.hpp"
|
|
#include "coreslam.h"
|
|
|
|
|
|
Laser::Laser(
|
|
int scanSize,
|
|
float scanRateHz,
|
|
float detection_angle_degrees,
|
|
float distance_no_detection_mm,
|
|
int detection_margin,
|
|
float offset_mm
|
|
)
|
|
{
|
|
this->laser = new laser_t;
|
|
|
|
this->laser->scan_size = scanSize;
|
|
this->laser->scan_rate_hz = scanRateHz;
|
|
this->laser->detection_angle_degrees = detection_angle_degrees;
|
|
this->laser->distance_no_detection_mm = distance_no_detection_mm;
|
|
this->laser->detection_margin = detection_margin;
|
|
this->laser->offset_mm = offset_mm;
|
|
}
|
|
|
|
|
|
Laser::Laser(void)
|
|
{
|
|
this->laser = new laser_t;
|
|
|
|
this->laser->scan_size = 0;
|
|
this->laser->scan_rate_hz = 0;
|
|
this->laser->detection_angle_degrees = 0;
|
|
this->laser->distance_no_detection_mm = 0;
|
|
this->laser->detection_margin = 0;
|
|
this->laser->offset_mm = 0;
|
|
}
|
|
|
|
|
|
Laser::~Laser(void)
|
|
{
|
|
delete this->laser;
|
|
}
|
|
|
|
ostream& operator<< (ostream & out, Laser & laser)
|
|
{
|
|
char str[512];
|
|
char lstr[512];
|
|
|
|
laser_string(*laser.laser, lstr);
|
|
|
|
sprintf(str, "<%s>", lstr);
|
|
|
|
out << str;
|
|
|
|
return out;
|
|
}
|
|
|