Lidar.hh

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/*
 * Copyright 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef SDF_LIDAR_HH_
#define SDF_LIDAR_HH_

#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/Noise.hh>
#include <sdf/sdf_config.h>

#include <ignition/math/Angle.hh>

namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //
  class LidarPrivate;

  class SDFORMAT_VISIBLE Lidar
  {
    public: Lidar();

    public: Lidar(const Lidar &_lidar);

    public: Lidar(Lidar &&_lidar) noexcept;

    public: ~Lidar();

    public: Lidar &operator=(const Lidar &_lidar);

    public: Lidar &operator=(Lidar &&_lidar) noexcept;

    public: Errors Load(ElementPtr _sdf);

    public: sdf::ElementPtr Element() const;

    public: unsigned int HorizontalScanSamples() const;

    public: void SetHorizontalScanSamples(unsigned int _samples);

    public: double HorizontalScanResolution() const;

    public: void SetHorizontalScanResolution(double _res);

    public: ignition::math::Angle HorizontalScanMinAngle() const;

    public: void SetHorizontalScanMinAngle(const ignition::math::Angle &_min);

    public: ignition::math::Angle HorizontalScanMaxAngle() const;

    public: void SetHorizontalScanMaxAngle(const ignition::math::Angle &_max);

    public: unsigned int VerticalScanSamples() const;

    public: void SetVerticalScanSamples(unsigned int _samples);

    public: double VerticalScanResolution() const;

    public: void SetVerticalScanResolution(double _res);

    public: ignition::math::Angle VerticalScanMinAngle() const;

    public: void SetVerticalScanMinAngle(const ignition::math::Angle &_min);

    public: ignition::math::Angle VerticalScanMaxAngle() const;

    public: void SetVerticalScanMaxAngle(const ignition::math::Angle &_max);

    public: double RangeMin() const;

    public: void SetRangeMin(double _min);

    public: double RangeMax() const;

    public: void SetRangeMax(double _max);

    public: double RangeResolution() const;

    public: void SetRangeResolution(double _range);

    public: const Noise &LidarNoise() const;

    public: void SetLidarNoise(const Noise &_noise);

    public: bool operator==(const Lidar &_lidar) const;

    public: bool operator!=(const Lidar &_lidar) const;

    private: LidarPrivate *dataPtr;
  };
  }
}
#endif