forked from pz4kybsvg/Conception
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55 lines
1.3 KiB
55 lines
1.3 KiB
#pragma once
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#include <rpos/core/feature.h>
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#include <rpos/core/pose.h>
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#include <rpos/core/laser_point.h>
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#include <vector>
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namespace rpos {namespace features {
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namespace detail {
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class LidarFeatureImpl;
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}
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struct LidarCapability {
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float deadZone; // dead zone in meter
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float maxDistance; // in meter
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unsigned int maxSampleRate; // in hz
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float maxScanRate; // in hz
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};
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typedef unsigned int laser_scan_id_t;
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struct LaserScan {
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laser_scan_id_t id;
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std::vector<rpos::core::LaserPoint> points;
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};
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class LidarFeature : public rpos::core::Feature {
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public:
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RPOS_OBJECT_CTORS_WITH_BASE(LidarFeature, rpos::core::Feature);
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~LidarFeature();
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public:
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rpos::core::Pose getSensorPose();
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bool getCapability(LidarCapability* cap);
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bool getSampleRate(unsigned int* rate);
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bool getScanRate(float* rate);
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bool setSampleRate(unsigned int rate);
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bool rampup(float rate);
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bool stop();
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bool grabNewScan(LaserScan& scan, unsigned int timeout = 3000u);
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bool grabNewScan(laser_scan_id_t lastScanId, LaserScan& scan, unsigned int timeout = 3000u);
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bool getCurrentScan(LaserScan& scan, unsigned int timeout = 3000u);
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};
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} }
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