sensor_segment2d.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 G. Grisetti, R. Kuemmerle, 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_SENSOR_SEGMENT2D_H_
#define G2O_SENSOR_SEGMENT2D_H_

#include "simulator2d.h"
#include "g2o/apps/g2o_simulator/pointsensorparameters.h"
#include "g2o/types/slam2d_addons/types_slam2d_addons.h"

namespace g2o {

  // sensor that senses segments, only if the extremas are visible
  class G2O_SIMULATOR_API SensorSegment2D: public PointSensorParameters, public BinarySensor<Robot2D, EdgeSE2Segment2D,WorldObjectSegment2D>{
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    SensorSegment2D(const std::string& name_);
    virtual void sense();
    virtual void addNoise(EdgeType* e);
  protected:
    bool isVisible(WorldObjectType* to);
  };

}

#endif