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- #ifndef FASTVIRTUALSCAN_H
- #define FASTVIRTUALSCAN_H
- #include<QVector>
- #include<QtAlgorithms>
- #include<QtGlobal>
- #include<sensor_msgs/PointCloud2.h>
- struct SimpleVirtualScan
- {
- int rotid;
- double rotlength;
- double rotheight;
- double length;
- double height;
- };
- class FastVirtualScan
- {
- public:
- sensor_msgs::PointCloud2ConstPtr velodyne;
- public:
- int beamnum;
- double step;
- double minfloor;
- double maxceiling;
- double rotation;
- double minrange;
- QVector<QVector<SimpleVirtualScan> > svs;
- QVector<QVector<SimpleVirtualScan> > svsback;
- QVector<double> minheights;
- QVector<double> maxheights;
- public:
- FastVirtualScan();
- virtual ~FastVirtualScan();
- public:
- void calculateVirtualScans(int beamNum, double heightStep, double minFloor, double maxCeiling, double obstacleMinHeight=1, double maxBackDistance=1, double beamRotation=0, double minRange=0);
- void getVirtualScan(double thetaminheight, double thetamaxheight, double maxFloor, double minCeiling, double passHeight, QVector<double> & virtualScan);
- };
- #endif // FASTVIRTUALSCAN_H
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