laser_parameters.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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#ifndef G2O_LASER_PARAMETERS_H
#define G2O_LASER_PARAMETERS_H

#include "g2o/types/slam2d/se2.h"
#include "g2o_types_data_api.h"

namespace g2o {

  struct G2O_TYPES_DATA_API LaserParameters
  {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
    LaserParameters(int type, int beams, double firstBeamAngle, double angularStep, double maxRange, double accuracy, int remissionMode);
    LaserParameters(int beams, double firstBeamAngle, double angularStep, double maxRange);
    SE2 laserPose;
    int type;
    double firstBeamAngle;
    double fov;
    double angularStep;
    double accuracy;
    int remissionMode;
    double maxRange;
  };

}

#endif