RangeScan.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
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 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
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 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
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#ifndef _MIRA_RANGESCAN_H_
#define _MIRA_RANGESCAN_H_

#include <serialization/adapters/std/vector>
#include <platform/Types.h>
#include <robot/RangeScanInfo.h>

namespace mira { namespace robot {


class RangeScan : public RangeScanInfo
{
public:
    enum RangeCode
    {
        Valid = 0,      
        BelowMinimum,   
        AboveMaximum,   

        // Invalid is the first enum that indicates a measurement that really
        // is not usable. Other enums (like Masked) that also indicate an
        // unusable measurement must follow below.

        Invalid,        
        Masked,         

        InvalidUser = 1000  
    };

public:

    RangeScan() {}

    RangeScan(std::size_t scans) :
        range(scans), valid(scans) {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, RangeScanInfo);

        r.member("Range", range, "The range scan vector. Values in meter");
        r.member("Valid", valid, "Valid range scans (value=0 for valid scans) "
                 "referenced to the elements in the range scan vector");
        r.member("Certainty", certainty, "Optional certainty values for each "
                 "scan referenced to the appropriate scan vector element");
        r.member("Reflectance", reflectance, "Optional reflectance values for "
                 "each scan referenced to the appropriate scan vector element");
    }


public:

    std::vector<float> range;

    std::vector<uint16> valid;

    std::vector<float> certainty;

    std::vector<float> reflectance;
};


}}

#endif