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43 lines
1.0 KiB
43 lines
1.0 KiB
#pragma once
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#include <rp/slamware/features/lidar_feature.h>
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#include <rp/slamware/config/config_parser.h>
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namespace rp { namespace slamware { namespace features {
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namespace detail {
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class SlamwareBaseLidarFeatureImpl;
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}
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struct SlamwareBaseLidarFeatureConfig {
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float requiredFreq;
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rpos::core::Pose pose;
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};
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class SlamwareBaseLidarFeature : public LidarFeature {
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public:
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RPOS_OBJECT_CTORS_WITH_BASE(SlamwareBaseLidarFeature, LidarFeature);
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~SlamwareBaseLidarFeature() = default;
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SlamwareBaseLidarFeature(const SlamwareBaseLidarFeatureConfig& config);
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};
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} } }
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namespace rp { namespace slamware { namespace config {
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template<>
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struct ConfigParser < features::SlamwareBaseLidarFeatureConfig >
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{
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static bool parse(const Json::Value& config, features::SlamwareBaseLidarFeatureConfig& that)
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{
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CONFIG_PARSE_CHILD_WITH_DEFAULT(requiredFreq, 6.0f);
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//CONFIG_PARSE_CHILD(pose);
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return true;
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}
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};
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} } }
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