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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/transform_listener.h>
33 
34 #include <string>
35 
36 namespace fawkes {
37  class Configuration;
38  class Logger;
39 }
40 
42 {
43  public:
45  std::string target_frame,
46  float not_from_x, float not_to_x,
47  float not_from_y, float not_to_y,
48  float only_from_z, float only_to_z,
49  unsigned int in_data_size,
50  std::vector<LaserDataFilter::Buffer *> &in);
52 
53  void filter();
54 
55  private:
56  inline void set_output(float *outbuf, fawkes::tf::Point &p);
57 
58  private:
59  fawkes::tf::TransformListener *tf_listener_;
60  const std::string target_frame_;
61  const float not_from_x_, not_to_x_;
62  const float not_from_y_, not_to_y_;
63  const float only_from_z_, only_to_z_;
64 
65  float sin_angles360[360];
66  float cos_angles360[360];
67  float sin_angles720[720];
68  float cos_angles720[720];
69 
70  float index_factor_;
71 };
72 
73 #endif
Receive transforms and answer queries.
Projects one laser into another laser's plane.
Definition: projection.h:41
LaserProjectionDataFilter(fawkes::tf::TransformListener *tf_listener, 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:58
void filter()
Filter the incoming data.
Definition: projection.cpp:124
std::vector< Buffer * > in
Vector of input arrays.
Definition: filter.h:66
unsigned int in_data_size
Number of entries in input arrays.
Definition: filter.h:65
Laser data filter.
Definition: filter.h:28