/build/rock-master-18.09-slam-orogen-tilt-scan-0.20160906/tilt_scanTypes.hpp

Go to the documentation of this file.

#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,
                };

                Mode mode;

                int max_lines;

                float sweep_angle_min;

                float sweep_angle_max;

                float sweep_velocity_up;

                float sweep_velocity_down;

                std::string sweep_servo_name;

                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,
                };
                uint8_t counter;
                
                State curState;
                
                std::string sourceName;
                
                bool isNextSweep(SweepStatus lastState)
                {
                        return NOT_SWEEPING || lastState.counter != counter;
                }
        };

}

#endif