Fawkes API Fawkes Development Version
projection.h
1
2/***************************************************************************
3 * projection.h - Laser data projection filter
4 *
5 * Created: Tue Mar 22 16:30:51 2011
6 * Copyright 2011 Christoph Schwering
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#ifndef _PLUGINS_LASER_FILTER_FILTERS_PROJECTION_H_
24#define _PLUGINS_LASER_FILTER_FILTERS_PROJECTION_H_
25
26#include "filter.h"
27
28#ifndef HAVE_TF
29# error LaserProjectionDataFilter only availabe with TF
30#endif
31
32#include <tf/transformer.h>
33
34#include <string>
35
36namespace fawkes {
37class Configuration;
38class Logger;
39} // namespace fawkes
40
42{
43public:
44 LaserProjectionDataFilter(const std::string & filter_name,
46 std::string target_frame,
47 float not_from_x,
48 float not_to_x,
49 float not_from_y,
50 float not_to_y,
51 float only_from_z,
52 float only_to_z,
53 unsigned int in_data_size,
54 std::vector<LaserDataFilter::Buffer *> &in);
56
57 void filter();
58
59private:
60 inline void set_output(float *outbuf, fawkes::tf::Point &p);
61
62private:
64 const std::string target_frame_;
65 const float not_from_x_, not_to_x_;
66 const float not_from_y_, not_to_y_;
67 const float only_from_z_, only_to_z_;
68
69 float sin_angles360[360];
70 float cos_angles360[360];
71 float sin_angles720[720];
72 float cos_angles720[720];
73
74 float index_factor_;
75};
76
77#endif
Laser data filter.
Definition: filter.h:33
unsigned int in_data_size
Number of entries in input arrays.
Definition: filter.h:88
std::string filter_name
Name of the specific filter instance.
Definition: filter.h:86
std::vector< Buffer * > in
Vector of input arrays.
Definition: filter.h:89
Projects one laser into another laser's plane.
Definition: projection.h:42
void filter()
Filter the incoming data.
Definition: projection.cpp:128
LaserProjectionDataFilter(const std::string &filter_name, fawkes::tf::Transformer *tf, std::string target_frame, float not_from_x, float not_to_x, float not_from_y, float not_to_y, float only_from_z, float only_to_z, unsigned int in_data_size, std::vector< LaserDataFilter::Buffer * > &in)
Constructor.
Definition: projection.cpp:57
Coordinate transforms between any two frames in a system.
Definition: transformer.h:65
Fawkes library namespace.