131 lines
3.8 KiB
C++
131 lines
3.8 KiB
C++
/**
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*
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* Laser.hpp - C++ headers for Laser model classes
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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 <iostream>
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#include <vector>
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using namespace std;
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/**
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* A class for scanning laser rangefinder (Lidar) parameters.
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*/
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class Laser
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{
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friend class CoreSLAM;
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friend class SinglePositionSLAM;
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friend class RMHC_SLAM;
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friend class Scan;
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protected:
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int scan_size; /* number of points per scan */
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double scan_rate_hz; /* scans per second */
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double detection_angle_degrees; /* e.g. 240, 360 */
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double distance_no_detection_mm; /* default value when the laser returns 0 */
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int detection_margin; /* first scan element to consider */
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double offset_mm; /* position of the laser wrt center of rotation */
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public:
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/**
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* Builds a Laser object from parameters based on the specifications for your
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* Lidar unit.
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* @param scan_size number of rays per scan
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* @param scan_rate_hz laser scan rate in Hertz
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* @param detection_angle_degrees detection angle in degrees (e.g. 240, 360)
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* @param detection_margin number of rays at edges of scan to ignore
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* @param offset_mm forward/backward offset of laser motor from robot center
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* @return a new Laser object
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*
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*/
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Laser(
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int scan_size,
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float scan_rate_hz,
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float detection_angle_degrees,
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float distance_no_detection_mm,
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int detection_margin = 0,
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float offset_mm = 0.
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)
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{
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this->scan_size = scan_size;
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this->scan_rate_hz = scan_rate_hz;
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this->detection_angle_degrees = detection_angle_degrees;
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this->distance_no_detection_mm = distance_no_detection_mm;
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this->detection_margin = detection_margin;
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this->offset_mm = offset_mm;
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}
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/**
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* Builds an empty Laser object (all parameters zero).
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*/
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Laser(void);
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friend ostream& operator<< (ostream & out, Laser & laser)
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{
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char str[512];
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sprintf(str,
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"<scan_size=%d | scan_rate=%3.3f hz | "
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"detection_angle=%3.3f deg | "
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"distance_no_detection=%7.4f mm | "
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"detection_margin=%d | offset=%4.4f mm>",
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laser.scan_size, laser.scan_rate_hz,
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laser.detection_angle_degrees,
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laser.distance_no_detection_mm,
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laser.detection_margin,
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laser.offset_mm);
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out << str;
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return out;
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}
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};
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/**
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* A class for the Hokuyo URG-04LX laser.
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*/
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class URG04LX : public Laser
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{
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public:
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/**
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* Builds a URG04LX object.
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* Lidar unit.
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* @param detection_margin number of rays at edges of scan to ignore
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* @param offset_mm forward/backward offset of laser motor from robot center
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* @return a new URG04LX object
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*
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*/
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URG04LX(int detection_margin = 0, float offset_mm = 0) :
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Laser(682, 10, 240, 4000, detection_margin, offset_mm) { }
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/**
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* Builds an empty URG04LX object (all parameters zero).
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*/
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URG04LX(void) : Laser() {}
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};
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