LidarRayPatternFromFile.h

Go to the documentation of this file.

/*
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,
store, distribute, publish, copy or otherwise disseminate, use or expose this
material unless having a written signed agreement with Algoryx Simulation AB, or having been
advised so by Algoryx Simulation AB for a time limited evaluation, or having purchased a
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/LidarRayPatternGenerator.h>
 
namespace agxSensor
{
 
  struct RayFileDefinition
  {
      std::string
        path;  
      bool twoColumns = false;  
      bool anglesInDegrees = false;  
      bool firstLineIsHeader = true;  
      char delimiter = ',';  
  };
 
 
  DOXYGEN_START_INTERNAL_BLOCK()
 
  
  class AGXSENSOR_EXPORT LidarPatternRayArchive
  {
    public:
      LidarPatternRayArchive();
 
      bool read(const agx::String& path);
 
      bool write(const agx::String& path);
 
 
      virtual ~LidarPatternRayArchive() = default;
 
    protected:
      bool read(agxStream::InputArchive& in);
      bool write(agxStream::OutputArchive& out) const;
      friend class LidarRayPatternFromFile;
      std::shared_ptr<LidarRayPatternStorage> m_storage;
  };
  DOXYGEN_END_INTERNAL_BLOCK()
 
 
  AGX_DECLARE_POINTER_TYPES(LidarRayPatternFromFile);
 
  class AGXSENSOR_EXPORT LidarRayPatternFromFile : public LidarRayPatternGenerator
  {
    public:
      LidarRayPatternFromFile();
 
      LidarRayPatternFromFile(
        agxSensor::RayFileDefinition rayFileDefinition, agx::Real frequency, size_t frameSize, size_t downsample = 1);
 
      static bool createPatternArchiveFromFile(RayFileDefinition rayFileDefinition, LidarPatternRayArchive& storage);
 
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual LidarRayPatternInterval getNextInterval(agx::Real dt) override;
      virtual size_t getNumRays() const override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxSensor::LidarRayPatternFromFile);
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    protected:
      static bool createPatternFromFile(RayFileDefinition rayFileDefinition, LidarRayPatternStorage& storage);
      virtual ~LidarRayPatternFromFile() = default;
 
    private:
      struct PatternState
      {
          agx::Real elapsedTime = 0.0;
          agx::Real frameTime = 0.0;
          size_t frameSize = 0;
          size_t last = std::numeric_limits<size_t>::max();
      };
 
 
    private:
      PatternState m_state;
      std::shared_ptr<LidarRayPatternStorage> m_pattern;
  };
}