LidarRayPatternHorizontalSweep.h

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/*
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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
{
  class AGXSENSOR_EXPORT LidarRayPatternHorizontalSweep : public LidarRayPatternGenerator
  {
    public:
      LidarRayPatternHorizontalSweep();
 
      LidarRayPatternHorizontalSweep(const agx::Vec2& fov, const agx::Vec2& angleResolution, agx::Real frequency);
 
      LidarRayPatternHorizontalSweep(const agx::Vec2& fov, const agx::Vec2u& resolution, agx::Real frequency);
 
      LidarRayPatternHorizontalSweep(
        const agx::RangeReal& horizontalFov, const agx::RangeReal& verticalFov, const agx::Vec2& angleResolution,
        agx::Real frequency);
 
      LidarRayPatternHorizontalSweep(
        const agx::RangeReal& horizontalFov, const agx::RangeReal& verticalFov, const agx::Vec2u& resolution,
        agx::Real frequency);
 
      agx::RangeReal getHorizontalFov() const;
 
      agx::RangeReal getVerticalFov() const;
 
      agx::Vec2u getResolution() const;
 
      agx::Real getFrequency() const;
 
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual ~LidarRayPatternHorizontalSweep() = default;
      virtual LidarRayPatternInterval getNextInterval(agx::Real dt) override;
      virtual size_t getNumRays() const override;
 
      virtual void synchronizeGraphics(RtSystemNodeProxy& node, const agxRender::RenderManager& renderManager) override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE(agxSensor::LidarRayPatternHorizontalSweep);
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      struct PatternState
      {
          agx::Real elapsedTime = 0.0;
          agx::Real sweepTime = 0.0;
          size_t last = std::numeric_limits<size_t>::max();
          agx::RangeReal horizontalFov {0.0, 0.0};
          agx::RangeReal verticalFov {0.0, 0.0};
          agx::Vec2u resolution {0u, 0u};
      };
 
    private:
      void setRays(
        const agx::RangeReal& horizontalFov, const agx::RangeReal& verticalFov, const agx::Vec2u& resolution);
 
    private:
      PatternState m_state;
      std::shared_ptr<LidarRayPatternStorage> m_pattern;
  };
}