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 
36 namespace fawkes {
37 class Configuration;
38 class Logger;
39 } // namespace fawkes
40 
42 {
43 public:
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 
59 private:
60  inline void set_output(float *outbuf, fawkes::tf::Point &p);
61 
62 private:
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
LaserDataFilter::filter_name
std::string filter_name
Definition: filter.h:86
LaserProjectionDataFilter
Definition: projection.h:41
fawkes::tf::Transformer
Definition: transformer.h:74
LaserDataFilter::in_data_size
unsigned int in_data_size
Definition: filter.h:88
LaserDataFilter::in
std::vector< Buffer * > in
Definition: filter.h:89
fawkes
LaserDataFilter
Definition: filter.h:32
LaserProjectionDataFilter::LaserProjectionDataFilter
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
LaserProjectionDataFilter::filter
void filter()
Definition: projection.cpp:128