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tilt_scanTypes.hpp
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tilt_scanTypes.hpp
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#ifndef __TILT_SCAN_TYPES_HPP__
#define __TILT_SCAN_TYPES_HPP__
#include <base/Pose.hpp>
#include <stdint.h>
namespace tilt_scan
{
struct Configuration
{
Configuration()
: mode(CONTINUOUS_SWEEPING),
max_lines(200),
sweep_angle_min(-1.0),
sweep_angle_max(1.0),
sweep_velocity_up(2.0),
sweep_velocity_down(0.5),
sweep_back_and_forth(false)
{}
enum Mode {
CONTINUOUS_SWEEPING,
TRIGGERED_SWEEPING,
};
/** current mode */
Mode mode;
/** maximum number of lines until the scan is considered complete */
int max_lines;
/** minimum angle value to use when sweeping in rad */
float sweep_angle_min;
/** maximum angle to use when sweeping in rad */
float sweep_angle_max;
/** sweep velocity up in rad/s */
float sweep_velocity_up;
/** sweep velocity down in rad/s, by default the point cloud is only generated while sweeping down */
float sweep_velocity_down;
/** name of the servo to sweep */
std::string sweep_servo_name;
/** also take a pointcloud while sweeping up */
bool sweep_back_and_forth;
};
struct SweepStatus
{
SweepStatus() : counter(0), curState(NOT_SWEEPING)
{};
enum State {
NOT_SWEEPING,
INITIALIZING,
REACHED_UP_POSITION,
SWEEPING_UP,
SWEEPING_DOWN,
};
///counter of the sweeps, wraps at 255
uint8_t counter;
///current state of sweeping
State curState;
///name of the sweeping device
std::string sourceName;
/**
* Return true if one ore more sweeps
* in respect to the given state werde done.
*
* Also returns true, if not sweeping at all.
* */
bool isNextSweep(SweepStatus lastState)
{
return NOT_SWEEPING || lastState.counter != counter;
}
};
}
#endif