scan.h

// This file is part of snark, a generic and flexible library
// for robotics research.
//
// Copyright (C) 2011 The University of Sydney
//
// snark is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 3 of the License, or (at your option) any later version.
//
// snark is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License
// for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License along with snark. If not, see <http://www.gnu.org/licenses/>.

#ifndef SNARK_SENSORS_VELODYNE_THIN_SCAN
#define SNARK_SENSORS_VELODYNE_THIN_SCAN

#include <snark/sensors/velodyne/packet.h>

namespace snark {  namespace velodyne { namespace thin {

class scan
{
public:
    scan();
    void thin( velodyne::packet& packet, double rate, double angularSpeed );
    bool empty() const { return m_empty; }
private:
    enum { m_size = 12 * 32 };
    struct index 
    {
        unsigned int idx;
        unsigned int block;
        unsigned int laser;
        index() : idx( 0 ), block( 0 ), laser( 0 ) {}
        const index& operator++()
        {
            ++idx;
            if( block & 0x1 )
            {
                ++laser;
                if( laser < 32 ) { --block; } else { laser = 0; ++block; }
            }
            else
            {
                ++block;
            }
            return *this;
        }
        bool operator==( const index& rhs ) const { return idx == rhs.idx; }
    };
    unsigned int m_scan;
    unsigned int m_count;
    bool m_closed;
    unsigned int m_output;
    bool m_outputCurrentscan;
    bool m_empty; 
};


} } } // namespace snark {  namespace velodyne { namespace thin {

#endif // SNARK_SENSORS_VELODYNE_THIN_SCAN