vpLaserScan.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Laser scan data structure.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/
#ifndef vpLaserScan_h
#define vpLaserScan_h

#include "visp3/sensor/vpScanPoint.h"

#include <vector>

class VISP_EXPORT vpLaserScan
{
 public:
    vpLaserScan()
      : listScanPoints(), startTimestamp(0), endTimestamp(0), measurementId(0),
        numSteps(0), startAngle(0), stopAngle(0), numPoints(0)
  {
  }
  vpLaserScan(const vpLaserScan &scan)
    : listScanPoints(), startTimestamp(0), endTimestamp(0), measurementId(0),
      numSteps(0), startAngle(0), stopAngle(0), numPoints(0)
  {
    startTimestamp = scan.startTimestamp;
    endTimestamp = scan.endTimestamp;
    measurementId = scan.measurementId;
    numSteps = scan.numSteps;
    startAngle = scan.startAngle;
    stopAngle = scan.stopAngle;
    numPoints = scan.numPoints;
    listScanPoints = scan.listScanPoints;
  }
  virtual ~vpLaserScan() {};
  inline void addPoint(const vpScanPoint &p) {
    listScanPoints.push_back( p );
  }
  inline void clear() {
    listScanPoints.clear(  );
  }
  inline std::vector<vpScanPoint> getScanPoints() {
    return listScanPoints;
  }
  inline void setMeasurementId(const unsigned short &id) {
    this->measurementId = id;
  }
  inline void setStartTimestamp(const double &start_timestamp) {
    this->startTimestamp = start_timestamp;
  }
  inline void setEndTimestamp(const double &end_timestamp) {
    this->endTimestamp = end_timestamp;
  }
  inline void setNumSteps(const unsigned short &num_steps) {
    this->numSteps = num_steps;
  }
  inline void setStartAngle(const short &start_angle) {
    this->startAngle = start_angle;
  }
  inline void setStopAngle(const short &stop_angle) {
    this->stopAngle = stop_angle;
  }
  inline void setNumPoints(const unsigned short &num_points) {
    this->numPoints = num_points;
  }
  inline double getStartTimestamp() {
    return startTimestamp;
  }
  inline double getEndTimestamp() {
    return endTimestamp;
  }

 private:
  std::vector<vpScanPoint> listScanPoints;
  double startTimestamp;
  double endTimestamp;
  unsigned short measurementId;
  unsigned short numSteps;
  short startAngle;
  short stopAngle;
  unsigned short numPoints;

};

#endif