102 lines
2.1 KiB
C++
102 lines
2.1 KiB
C++
/**
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*
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* BreezySLAM: Simple, efficient SLAM in C++
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*
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* Scan.hpp - header for Scan class
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*
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* Copyright (C) 2014 Simon D. Levy
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* This code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as
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* published by the Free Software Foundation, either version 3 of the
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* License, or (at your option) any later version.
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*
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* This code is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this code. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdio.h>
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#include <math.h>
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#include <stdlib.h>
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#include <iostream>
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using namespace std;
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class Velocities;
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class Laser;
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/**
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* A class for Lidar scans.
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*/
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class Scan
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{
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friend class Map;
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friend class CoreSLAM;
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friend class RMHC_SLAM;
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public:
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/**
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* Builds a Scan object.
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* @param laser laser parameters
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*
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*/
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Scan(Laser * laser);
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/**
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* Builds a Scan object.
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* @param laser laser parameters
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* @param span supports spanning laser scan to cover the space better.
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*
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*/
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Scan(Laser * laser, int span);
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/**
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* Deallocates this Scan object.
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*
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*/
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~Scan(void);
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/**
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* Updates this Scan object with new values from a Lidar scan.
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* @param scanvals_mm scanned Lidar distance values in millimeters
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* @param hole_width_millimeters hole width in millimeters
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*
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*/
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void
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update(
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int * scanvals_mm,
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double hole_width_millimeters);
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/**
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* Updates this Scan object with new values from a Lidar scan.
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* @param scanvals_mm scanned Lidar distance values in millimeters
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* @param hole_width_millimeters hole width in millimeters
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* @param velocities forward velocity and angular velocity of robot at scan time
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*
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*/
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void
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update(
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int * scanvals_mm,
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double hole_width_millimeters,
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Velocities & velocities);
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friend ostream& operator<< (ostream & out, Scan & scan);
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private:
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struct scan_t * scan;
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void init(Laser * laser, int span);
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};
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