CpuLidarSensor.hh

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/*
 * Copyright (C) 2026 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_SENSORS_CPULIDARSENSOR_HH_
#define GZ_SENSORS_CPULIDARSENSOR_HH_
 
#include <utility>
#include <vector>
 
#include <sdf/Element.hh>
#include <sdf/Sensor.hh>
 
#include <gz/math/Angle.hh>
#include <gz/math/Vector3.hh>
#include <gz/utils/ImplPtr.hh>
 
#include <gz/sensors/config.hh>
#include <gz/sensors/cpu_lidar/Export.hh>
 
#include "gz/sensors/Sensor.hh"
 
namespace gz
{
  namespace sensors
  {
    inline namespace GZ_SENSORS_VERSION_NAMESPACE {
 
    class GZ_SENSORS_CPU_LIDAR_VISIBLE CpuLidarSensor : public Sensor
    {
      public: struct RayResult
      {
        gz::math::Vector3d point;
 
        double fraction;
 
        gz::math::Vector3d normal;
 
        double intensity = 0.0;
      };
      public: CpuLidarSensor();
 
      public: virtual ~CpuLidarSensor();
 
      public: virtual bool Load(const sdf::Sensor &_sdf) override;
 
      public: virtual bool Load(sdf::ElementPtr _sdf) override;
 
      using Sensor::Update;
 
      public: virtual bool Update(
        const std::chrono::steady_clock::duration &_now) override;
 
      public: virtual bool HasConnections() const override;
 
      public: gz::math::Angle AngleMin() const;
 
      public: gz::math::Angle AngleMax() const;
 
      public: gz::math::Angle VerticalAngleMin() const;
 
      public: gz::math::Angle VerticalAngleMax() const;
 
      public: double RangeMin() const;
 
      public: double RangeMax() const;
 
      public: unsigned int RayCount() const;
 
      public: unsigned int VerticalRayCount() const;
 
      public: std::vector<std::pair<gz::math::Vector3d, gz::math::Vector3d>>
        GenerateRays() const;
 
      public: void SetRaycastResults(
        const std::vector<RayResult> &_results);
 
      public: void Ranges(std::vector<double> &_ranges) const;
 
      GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
    };
    }
  }
}
 
#endif