gz/sensors/Lidar.hh

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/*
 * Copyright (C) 2018 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_LIDAR_HH_
#define GZ_SENSORS_LIDAR_HH_
 
#include <memory>
#include <string>
#include <vector>
 
#include <gz/common/SuppressWarning.hh>
#include <gz/common/Event.hh>
 
#include "gz/sensors/lidar/Export.hh"
#include "gz/sensors/RenderingSensor.hh"
 
namespace ignition
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_SENSORS_VERSION_NAMESPACE {
    //
    class LidarPrivate;
 
    class IGNITION_SENSORS_LIDAR_VISIBLE Lidar : public RenderingSensor
    {
      public: Lidar();
 
      public: virtual ~Lidar();
 
      public: virtual bool Update(
        const std::chrono::steady_clock::duration &_now) override;
 
      public: void ApplyNoise();
 
      public: virtual bool PublishLidarScan(
        const std::chrono::steady_clock::duration &_now);
 
      public: virtual bool Load(const sdf::Sensor &_sdf) override;
 
      public: virtual bool Load(sdf::ElementPtr _sdf) override;
 
      public: virtual bool Init() override;
 
      public: void SetParent(const std::string &_parent) override;
 
      public: virtual bool CreateLidar();
 
      protected: virtual void Fini();
 
      public: gz::math::Angle AngleMin() const;
 
      public: void SetAngleMin(const double _angle);
 
      public: gz::math::Angle AngleMax() const;
 
      public: void SetAngleMax(const double _angle);
 
      public: double AngleResolution() const;
 
      public: double RangeMin() const;
 
      public: double RangeMax() const;
 
      public: double RangeResolution() const;
 
      public: unsigned int RayCount() const;
 
      public: unsigned int RangeCount() const;
 
      public: unsigned int VerticalRayCount() const;
 
      public: unsigned int VerticalRangeCount() const;
 
      public: gz::math::Angle VerticalAngleMin() const;
 
      public: void SetVerticalAngleMin(const double _angle);
 
      public: gz::math::Angle VerticalAngleMax() const;
 
      public: void SetVerticalAngleMax(const double _angle);
 
      public: double VerticalAngleResolution() const;
 
      public: double Range(const int _index) const;
 
      public: void Ranges(std::vector<double> &_ranges) const;
 
      public: double Retro(const int _index) const;
 
      public: int Fiducial(const unsigned int _index) const;
 
      public: bool IsHorizontal() const;
 
      public: double RayCountRatio() const;
 
      public: double RangeCountRatio() const;
 
      public: double HorzFOV() const;
 
      public: double VertFOV() const;
 
      // Documentation inherited
      public: virtual bool IsActive() const;
 
      public: bool HasConnections() const;
 
      public: uint32_t VisibilityMask() const;
 
      private: double Clamp(double _range) const;
 
      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
      public: mutable std::mutex lidarMutex;
      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
 
      public: float *laserBuffer = nullptr;
 
      public: bool initialized = false;
 
      public: virtual gz::common::ConnectionPtr ConnectNewLidarFrame(
          std::function<void(const float *_scan, unsigned int _width,
                  unsigned int _heighti, unsigned int _channels,
                  const std::string &/*_format*/)> _subscriber);
 
      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
      private: std::unique_ptr<LidarPrivate> dataPtr;
      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
    };
    }
  }
}
 
#endif