Lidar.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,
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/FrameAttachedSensor.h>
#include <agxSensor/LidarModel.h>
#include <agxSensor/LidarFrameNode.h>
#include <agxSensor/LidarRayDistortionHandler.h>
#include <agxSensor/RaytraceOutputHandler.h>
 
namespace agxSDK
{
  class Simulation;
}
 
namespace agxSensor
{
  AGX_DECLARE_POINTER_TYPES( Lidar );
  AGX_DECLARE_VECTOR_TYPES( Lidar );
 
  class AGXSENSOR_EXPORT Lidar : public FrameAttachedSensor
  {
    public:
      static Lidar* find( const agxSDK::Simulation* simulation, const agx::Name& name );
 
      static Lidar* find( const Environment* environment, const agx::Name& name );
 
      static LidarPtrVector findAll( const agxSDK::Simulation* simulation, const agx::Name& name );
 
      static LidarPtrVector findAll( const Environment* environment, const agx::Name& name );
 
      static LidarPtrVector findAll( const agxSDK::Simulation* simulation );
 
      static LidarPtrVector findAll( const Environment* environment );
 
    public:
      Lidar( agx::Frame* frame, LidarModel* model );
 
      virtual agx::Frame* getFrame() const override;
 
      virtual void setFrame( agx::Frame* frame ) override;
 
      LidarFrameNode* getFrameNode() const;
 
      LidarModel* getModel() const;
 
      LidarRayDistortionHandler* getRayDistortionHandler() const;
 
      RtOutputHandler* getOutputHandler() const;
 
      virtual ISensorOutputHandler* getOutputHandlerBase() const override;
      
      DOXYGEN_START_INTERNAL_BLOCK()
 
    public:
      virtual bool addNotification() override;
      virtual void synchronizeGraphics(const agxRender::RenderManager& renderManager) override;
      virtual void cleanup() override;
 
      AGXSTREAM_DECLARE_SERIALIZABLE( agxSensor::Lidar );
 
    protected:
      Lidar();
 
      DOXYGEN_END_INTERNAL_BLOCK()
 
    private:
      LidarModelRef m_model;
  };
}