Lidar.hh
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1 /*
2  * Copyright 2019 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
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13  * See the License for the specific language governing permissions and
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15  *
16  */
17 #ifndef SDF_LIDAR_HH_
18 #define SDF_LIDAR_HH_
19 
20 #include <sdf/Error.hh>
21 #include <sdf/Element.hh>
22 #include <sdf/Noise.hh>
23 #include <sdf/sdf_config.h>
24 
25 #include <gz/math/Angle.hh>
26 
27 namespace sdf
28 {
29  // Inline bracket to help doxygen filtering.
30  inline namespace SDF_VERSION_NAMESPACE {
31  //
32  class LidarPrivate;
33 
105  {
107  public: Lidar();
108 
111  public: Lidar(const Lidar &_lidar);
112 
115  public: Lidar(Lidar &&_lidar) noexcept;
116 
118  public: ~Lidar();
119 
123  public: Lidar &operator=(const Lidar &_lidar);
124 
128  public: Lidar &operator=(Lidar &&_lidar) noexcept;
129 
136  public: Errors Load(ElementPtr _sdf);
137 
142  public: sdf::ElementPtr Element() const;
143 
147  public: unsigned int HorizontalScanSamples() const;
148 
152  public: void SetHorizontalScanSamples(unsigned int _samples);
153 
156  public: double HorizontalScanResolution() const;
157 
160  public: void SetHorizontalScanResolution(double _res);
161 
164  public: gz::math::Angle HorizontalScanMinAngle() const;
165 
168  public: void SetHorizontalScanMinAngle(const gz::math::Angle &_min);
169 
172  public: gz::math::Angle HorizontalScanMaxAngle() const;
173 
176  public: void SetHorizontalScanMaxAngle(const gz::math::Angle &_max);
177 
181  public: unsigned int VerticalScanSamples() const;
182 
186  public: void SetVerticalScanSamples(unsigned int _samples);
187 
190  public: double VerticalScanResolution() const;
191 
194  public: void SetVerticalScanResolution(double _res);
195 
198  public: gz::math::Angle VerticalScanMinAngle() const;
199 
202  public: void SetVerticalScanMinAngle(const gz::math::Angle &_min);
203 
206  public: gz::math::Angle VerticalScanMaxAngle() const;
207 
210  public: void SetVerticalScanMaxAngle(const gz::math::Angle &_max);
211 
214  public: double RangeMin() const;
215 
218  public: void SetRangeMin(double _min);
219 
222  public: double RangeMax() const;
223 
226  public: void SetRangeMax(double _max);
227 
230  public: double RangeResolution() const;
231 
234  public: void SetRangeResolution(double _range);
235 
238  public: const Noise &LidarNoise() const;
239 
242  public: void SetLidarNoise(const Noise &_noise);
243 
247  public: bool operator==(const Lidar &_lidar) const;
248 
253  public: bool operator!=(const Lidar &_lidar) const;
254 
256  private: LidarPrivate *dataPtr;
257  };
258  }
259 }
260 #endif
Error.hh
Noise.hh
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:32
sdf::v9::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:89
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
sdf::v9::Noise
The Noise class contains information about a noise model, such as a Gaussian distribution.
Definition: Noise.hh:49
sdf::v9::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
sdf::v9::Lidar
Lidar contains information about a Lidar sensor.
Definition: Lidar.hh:104
sdf::v9::Element
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
Element.hh