Fawkes API  Fawkes Development Version
projection.h
00001 
00002 /***************************************************************************
00003  *  projection.h - Laser data projection filter
00004  *
00005  *  Created: Tue Mar 22 16:30:51 2011
00006  *  Copyright  2011  Christoph Schwering
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #ifndef __PLUGINS_LASER_FILTER_FILTERS_PROJECTION_H_
00024 #define __PLUGINS_LASER_FILTER_FILTERS_PROJECTION_H_
00025 
00026 #include "filter.h"
00027 
00028 #ifndef HAVE_TF
00029 #  error LaserProjectionDataFilter only availabe with TF
00030 #endif
00031 
00032 #include <tf/transform_listener.h>
00033 
00034 #include <string>
00035 
00036 namespace fawkes {
00037   class Configuration;
00038   class Logger;
00039 }
00040 
00041 class LaserProjectionDataFilter : public LaserDataFilter
00042 {
00043  public:
00044   LaserProjectionDataFilter(fawkes::tf::TransformListener *tf_listener,
00045                             std::string target_frame,
00046                             float not_from_x, float not_to_x,
00047                             float not_from_y, float not_to_y,
00048                             float only_from_z, float only_to_z,
00049                             unsigned int in_data_size,
00050                             std::vector<LaserDataFilter::Buffer *> &in);
00051   ~LaserProjectionDataFilter();
00052 
00053   void filter();
00054 
00055  private:
00056   inline void set_output(float *outbuf, fawkes::tf::Point &p);
00057 
00058  private:
00059   fawkes::tf::TransformListener *tf_listener_;
00060   const std::string target_frame_;
00061   const float not_from_x_, not_to_x_;
00062   const float not_from_y_, not_to_y_;
00063   const float only_from_z_, only_to_z_;
00064 
00065   float sin_angles360[360];
00066   float cos_angles360[360];
00067   float sin_angles720[720];
00068   float cos_angles720[720];
00069 
00070   float index_factor_;
00071 };
00072 
00073 #endif