MultilevelLaserScan.h

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#ifndef _VELODYNE_LIDAR_MultilevelLaserScan_H_
#define _VELODYNE_LIDAR_MultilevelLaserScan_H_

#include <vector>
#include <boost/cstdint.hpp>
#include <base/Time.hpp>
#include <base/Angle.hpp>
#include <base/Float.hpp>

namespace velodyne_lidar
{
    
struct MultilevelLaserScan
{    
    enum LASER_RANGE_ERRORS {
        TOO_FAR            = 1, // too far
        TOO_NEAR           = 2,
        MEASUREMENT_ERROR  = 3,
        OTHER_RANGE_ERRORS = 4,
        MAX_RANGE_ERROR    = 5  
    };
    
    struct SingleScan
    {
        SingleScan() : range(TOO_FAR), remission(0.0f)  {};
        
        boost::uint32_t range;
        
        float remission;
    };
    
    struct VerticalMultilevelScan
    {
        VerticalMultilevelScan() : time(base::Time::now()), horizontal_angle(base::Angle::fromRad(0.0)), vertical_start_angle(base::Angle::fromRad(0.0)), vertical_angular_resolution(0.0) {};
        
        base::Time time;
        
        std::vector<SingleScan> vertical_scans;
        
        base::Angle horizontal_angle;
        
        base::Angle vertical_start_angle;

        double vertical_angular_resolution;
    };
    
    MultilevelLaserScan() : time(base::Time::now()), min_range(MAX_RANGE_ERROR+1), max_range(0) {};
    
    base::Time time;
    
    std::vector< VerticalMultilevelScan > horizontal_scans;
    
    boost::uint32_t min_range;

    boost::uint32_t max_range;
    
    inline bool isRangeValid(boost::uint32_t range) const
    {
        if(!std::isnan(range) && !std::isinf(range) && range >= min_range && range <= max_range)
            return true;
        return false;
    }
};
    
};

#endif