laser_parameters.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, 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
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
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#include "laser_parameters.h"

namespace g2o {

  LaserParameters::LaserParameters(int t, int nbeams, double _firstBeamAngle, double _angularStep, double _maxRange, double _accuracy, int _remissionMode)
  {
    type           = t;
    firstBeamAngle = _firstBeamAngle;
    angularStep    = _angularStep;
    maxRange       = _maxRange;
    laserPose      = SE2(0., 0., 0.);
    accuracy       = _accuracy;
    remissionMode  = _remissionMode;
    fov            = angularStep * nbeams;
  }

  LaserParameters::LaserParameters(int nbeams, double _firstBeamAngle, double _angularStep, double _maxRange)
  {
    type           = 0;
    firstBeamAngle = _firstBeamAngle;
    angularStep    = _angularStep;
    maxRange       = _maxRange;
    laserPose      = SE2(0., 0., 0.);
    accuracy       = 0.1;
    remissionMode  = 0;
    fov            = angularStep * nbeams;
  }

} // end namespace