ArSensorReading.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARSENSORREADING_H
#define ARSENSORREADING_H

#include "ariaTypedefs.h"
#include "ariaUtil.h"
#include "ArTransform.h"


class ArSensorReading
{
public:
  AREXPORT ArSensorReading(double xPos = 0.0, double yPos = 0.0, double thPos = 0.0);
  AREXPORT ArSensorReading(const ArSensorReading & reading);
  AREXPORT ArSensorReading &operator=(const ArSensorReading &reading);
  AREXPORT virtual ~ArSensorReading();


  int getRange(void) const { return myRange; }


  bool isNew(unsigned int counter) const { return counter == myCounterTaken; }
  double getX(void) const { return myReading.getX(); }
  double getY(void) const { return myReading.getY(); }
  ArPose getPose(void) const { return myReading; }

  double getLocalX(void) const { return myLocalReading.getX(); }
  double getLocalY(void) const { return myLocalReading.getY(); }
  ArPose getLocalPose(void) const { return myLocalReading; }

  ArPose getPoseTaken(void) const { return myReadingTaken; }

  ArPose getEncoderPoseTaken(void) const { return myEncoderPoseTaken; }

  double getSensorX(void) const { return mySensorPos.getX(); }
  double getSensorY(void) const { return mySensorPos.getY(); }
  double getSensorTh(void) const { return mySensorPos.getTh(); }
  
  bool getIgnoreThisReading(void) const { return myIgnoreThisReading; }


  int getExtraInt(void) const { return myExtraInt; }



  ArPose getSensorPosition(void) const { return mySensorPos; }

  double getSensorDX(void) const { return mySensorCos; }
  double getSensorDY(void) const { return mySensorSin; }

  double getXTaken(void) const { return myReadingTaken.getX(); }
  double getYTaken(void) const { return myReadingTaken.getY(); }
  double getThTaken(void) const { return myReadingTaken.getTh(); }


  unsigned int getCounterTaken(void) const { return myCounterTaken; }

  ArTime getTimeTaken(void) const { return myTimeTaken; }
  
  AREXPORT void newData(int range, ArPose robotPose, ArPose encoderPose,
            ArTransform trans, unsigned int counter, 
            ArTime timeTaken, bool ignoreThisReading = false,
            int extraInt = 0);

  AREXPORT void newData(int sx, int sy, ArPose robotPose,
            ArPose encoderPose,
            ArTransform trans, 
            unsigned int counter,
            ArTime timeTaken,
            bool ignoreThisReading = false,
            int extraInt = 0);

  AREXPORT void resetSensorPosition(double xPos, double yPos, double thPos,
                    bool forceComputation = false);

  AREXPORT void setIgnoreThisReading(bool ignoreThisReading) 
    { myIgnoreThisReading = ignoreThisReading; }

  AREXPORT void setExtraInt(int extraInt) 
    { myExtraInt = extraInt; }


  AREXPORT void applyTransform(ArTransform trans);
  AREXPORT void applyEncoderTransform(ArTransform trans);
  AREXPORT bool getAdjusted(void) { return myAdjusted; }
  AREXPORT void setAdjusted(bool adjusted) { myAdjusted = adjusted; }
protected:
  unsigned int myCounterTaken;
  ArPose myReading;
  ArPose myLocalReading;  
  ArPose myReadingTaken;
  ArPose myEncoderPoseTaken;
  ArPose mySensorPos;
  double mySensorCos, mySensorSin;
  double myDistToCenter;
  double myAngleToCenter;
  int myRange;
  ArTime myTimeTaken;
  bool myIgnoreThisReading;
  int myExtraInt;
  bool myAdjusted;
};

#endif

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