LidarModel.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
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valid commercial license from Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#pragma once
 
#include <agxSensor/LidarRayRange.h>
#include <agxSensor/LidarProperties.h>
#include <agxSensor/LidarRayPatternGenerator.h>
 
#include <agxSensor/RaytraceOutputNoise.h>
 
namespace agxSensor
{
  AGX_DECLARE_POINTER_TYPES( LidarModel );
  AGX_DECLARE_POINTER_TYPES( LidarModelHorizontalSweep );
  AGX_DECLARE_POINTER_TYPES( LidarModelGeneric360HorizontalSweep10Hz );
 
  class AGXSENSOR_EXPORT LidarModel : public agx::Referenced, public agxStream::Serializable
  {
    public:
      LidarModel( LidarRayPatternGenerator* rayPatternGenerator,
                  agx::RangeReal32 range,
                  LidarProperties* properties = nullptr,
                  RtOutputNoiseRefVector outputNoises = RtOutputNoiseRefVector() );
 
      bool isValid( bool printIssues = true ) const;
 
      LidarRayPatternGenerator* getRayPatternGenerator() const;
 
      LidarRayRange* getRayRange() const;
 
      LidarProperties* getProperties() const;
 
      const RtOutputNoiseRefVector& getOutputNoises() const;
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual ~LidarModel() = default;
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::LidarModel );
 
    protected:
      LidarModel();
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      LidarRayPatternGeneratorRef m_rayPatternGenerator;
      LidarRayRangeRef m_rayRange;
      LidarPropertiesRef m_properties;
      RtOutputNoiseRefVector m_outputNoises;
  };
 
  class AGXSENSOR_EXPORT LidarModelHorizontalSweep : public LidarModel
  {
    public:
      LidarModelHorizontalSweep( agx::Vec2 fov,
                                 agx::Vec2 resolution,
                                 agx::Real frequency,
                                 LidarProperties* properties = nullptr,
                                 RtOutputNoiseRefVector outputNoises = RtOutputNoiseRefVector() );
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::LidarModelHorizontalSweep );
 
    public:
      virtual ~LidarModelHorizontalSweep() = default;
 
    protected:
      LidarModelHorizontalSweep();
 
      DOXYGEN_END_INTERNAL_BLOCK()
  };
 
  class AGXSENSOR_EXPORT LidarModelGeneric360HorizontalSweep : public LidarModelHorizontalSweep
  {
    public:
      LidarModelGeneric360HorizontalSweep( agx::Real frequency,
                                           LidarProperties* properties = nullptr,
                                           RtOutputNoiseRefVector outputNoises = RtOutputNoiseRefVector() );
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::LidarModelGeneric360HorizontalSweep );
 
    public:
      virtual ~LidarModelGeneric360HorizontalSweep() = default;
 
    protected:
      LidarModelGeneric360HorizontalSweep();
 
      DOXYGEN_END_INTERNAL_BLOCK()
  };
 
  class AGXSENSOR_EXPORT LidarModelGeneric360HorizontalSweep10Hz :
    public LidarModelGeneric360HorizontalSweep
  {
    public:
      LidarModelGeneric360HorizontalSweep10Hz();
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::LidarModelGeneric360HorizontalSweep10Hz );
 
    public:
      virtual ~LidarModelGeneric360HorizontalSweep10Hz() = default;
 
      DOXYGEN_END_INTERNAL_BLOCK()
  };
}