sensor_segment2d_pointline.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 G. Grisetti, R. Kuemmerle, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_SENSOR_SEGMENT2D_POINTLINE_H_
#define G2O_SENSOR_SEGMENT2D_POINTLINE_H_
 
#include "g2o/apps/g2o_simulator/pointsensorparameters.h"
#include "g2o/types/slam2d_addons/types_slam2d_addons.h"
#include "simulator2d.h"
 
namespace g2o {
 
// sensor that senses segments, only if the extremas are visible
class G2O_SIMULATOR_API SensorSegment2DPointLine
    : public PointSensorParameters,
      public BinarySensor<Robot2D, EdgeSE2Segment2DPointLine,
                          WorldObjectSegment2D> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  SensorSegment2DPointLine(const std::string& name_);
  virtual void sense();
  virtual void addNoise(EdgeType* e);
 
 protected:
  bool isVisible(WorldObjectType* to);
  int _visiblePoint;
};
 
}  // namespace g2o
 
#endif