EnvironmentalData.hh

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/*
 * Copyright (C) 2022 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_ENVIRONMENTAL_DATA_HH_
#define GZ_SENSORS_ENVIRONMENTAL_DATA_HH_
 
#include <memory>
#include <string>
 
#include <gz/common/DataFrame.hh>
#include <gz/math/SphericalCoordinates.hh>
#include <gz/math/TimeVaryingVolumetricGrid.hh>
 
#include <gz/sensors/config.hh>
#include <gz/sensors/Export.hh>
 
namespace gz
{
  namespace sensors
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SENSORS_VERSION_NAMESPACE
    {
      struct GZ_SENSORS_VISIBLE EnvironmentalData
      {
        using T = math::InMemoryTimeVaryingVolumetricGrid<double>;
        using FrameT = common::DataFrame<std::string, T>;
        using ReferenceT = math::SphericalCoordinates::CoordinateType;
 
        enum class ReferenceUnits {
          RADIANS = 0,
          DEGREES
        };
 
        static std::shared_ptr<EnvironmentalData>
        MakeShared(FrameT _frame, ReferenceT _reference,
          ReferenceUnits _units = ReferenceUnits::RADIANS,
          bool _ignoreTimeStep = false);
 
        FrameT frame;
 
        ReferenceT reference;
 
        ReferenceUnits units;
 
        bool staticTime;
      };
    }  // namespace GZ_SENSORS_VERSION_NAMESPACE
  }  // namespace sensors
}  // namespace gz
 
#endif