5 #include <scanner/Scanner.h>
6 #include <sim/comps/Survey.h>
10 namespace visualhelios{
104 void startLeg(
unsigned int const legIndex,
bool const manual);
109 void stopAndTurn(
unsigned int legIndex, shared_ptr<Leg> leg);
247 inline void setRayColor(
double const r,
double const g,
double const b){
297 double const r,
double const g,
double const b
Class representing a scanner asset.
Definition: Scanner.h:28
virtual std::shared_ptr< AbstractBeamDeflector > getBeamDeflector(size_t const idx)=0
Obtain the beam deflector of the scanning device.
void setPulseFreq_Hz(int const pulseFreq_Hz)
Set the pulse frequency.
Definition: Scanner.cpp:253
int getPulseFreq_Hz() const
Obtain the pulse frequency.
Definition: Scanner.h:601
Class representing a Helios++ survey.
Definition: Survey.h:13
Abstract class defining core mechanism to adapt scanners to the visual Helios context based on PCL an...
Definition: VHScannerAdapter.h:19
double nonReturningRayColor[3]
The color of the line representing the ray when it is not returning an echo.
Definition: VHScannerAdapter.h:68
void setOriginRadius(double const originRadius)
Set the ray's origin radius.
Definition: VHScannerAdapter.h:145
Scanner & scanner
The adapted scanner.
Definition: VHScannerAdapter.h:27
VHScannerAdapter(Scanner &scanner, Survey &survey)
Constructor for the visual Helios scanner adapter.
Definition: VHScannerAdapter.h:77
glm::dvec3 const & getRayDir() const
Return a constant reference to the director vector of the current ray.
Definition: VHScannerAdapter.h:133
void startLeg(unsigned int const legIndex, bool const manual)
Start specified leg.
Definition: VHScannerAdapter.cpp:53
double rayLength
The length of the ray. It specifies the magnitude of the vector representing the ray.
Definition: VHScannerAdapter.h:59
void nextStep()
Compute the next step for the scanner, with respect to the current one.
Definition: VHScannerAdapter.cpp:17
double originColor[3]
The RGB color of the sphere representing the origin of the ray.
Definition: VHScannerAdapter.h:54
glm::dvec3 origin
The coordinates of the origin for the current ray.
Definition: VHScannerAdapter.h:42
double const * getRayColor() const
Obtain the ray's color.
Definition: VHScannerAdapter.h:211
double getOriginColorRed() const
Obtain the ray's origin red color component.
Definition: VHScannerAdapter.h:158
void setNonReturningRayColor(double const r, double const g, double const b)
Set the non returning ray's color.
Definition: VHScannerAdapter.h:296
double rayColor[3]
The color of the line representing the ray.
Definition: VHScannerAdapter.h:63
double getOriginRadius() const
Obtain the ray's origin radius.
Definition: VHScannerAdapter.h:139
double getNonReturningRayColorRed() const
Obtain the non returning ray's red color component.
Definition: VHScannerAdapter.h:262
double getNonReturningRayColorBlue() const
Obtain the non returning ray's blue color component.
Definition: VHScannerAdapter.h:276
int getPulseFreq_Hz() const
Obtain the scanner's pulse frequency, in Hertz.
Definition: VHScannerAdapter.h:308
double getOriginColorGreen() const
Obtain the ray's origin green color component.
Definition: VHScannerAdapter.h:170
void setOriginColor(double const *rgb)
Set the ray's origin color.
Definition: VHScannerAdapter.h:178
double getRayColorBlue() const
Obtain the ray's blue color component.
Definition: VHScannerAdapter.h:229
void setRayLength(double const rayLength)
Set the ray's length.
Definition: VHScannerAdapter.h:204
void start()
Start the scanner.
Definition: VHScannerAdapter.cpp:13
void stopAndTurn(unsigned int legIndex, shared_ptr< Leg > leg)
Perform stop and turn operation to advance to next leg.
Definition: VHScannerAdapter.cpp:135
void setOriginColor(double const r, double const g, double const b)
Set the ray's origin color.
Definition: VHScannerAdapter.h:188
unsigned int currentLegIndex
The index of the current scanning leg.
Definition: VHScannerAdapter.h:38
double getRayColorGreen() const
Obtain the ray's green color component.
Definition: VHScannerAdapter.h:223
double getRayLength() const
Obtain the ray's length.
Definition: VHScannerAdapter.h:198
void setRayColor(double const r, double const g, double const b)
Set the ray's color.
Definition: VHScannerAdapter.h:247
double const * getNonReturningRayColor() const
Obtain the non returning ray's color.
Definition: VHScannerAdapter.h:255
void setRayColor(double const *rgb)
Set the ray's color.
Definition: VHScannerAdapter.h:237
double const * getOriginColor() const
Obtain the ray's origin color.
Definition: VHScannerAdapter.h:152
double originRadius
The radius of the sphere representing the origin of the ray.
Definition: VHScannerAdapter.h:50
double getNonReturningRayColorGreen() const
Obtain the non returning ray's green color component.
Definition: VHScannerAdapter.h:269
glm::dvec3 dir
The director vector of the current ray.
Definition: VHScannerAdapter.h:46
Survey & survey
The survey to which the adapted scanner belongs to.
Definition: VHScannerAdapter.h:32
Scanner & getScanner()
Obtain the scanner object.
Definition: VHScannerAdapter.h:122
void setPulseFreq_Hz(int const pulseFreq_Hz)
Set the scanner's pulse frequency, in Hertz.
Definition: VHScannerAdapter.h:314
double const * getCurrentRayColor() const
Obtain the ray color depending on if the ray is expected to return an echo or not.
Definition: VHScannerAdapter.h:329
glm::dvec3 const & getRayOrigin() const
Return a constant reference to the origin of the current ray.
Definition: VHScannerAdapter.h:127
double getOriginColorBlue() const
Obtain the ray's origin blue color component.
Definition: VHScannerAdapter.h:164
void setNonReturningRayColor(double const *rgb)
Set the non returning ray's color.
Definition: VHScannerAdapter.h:285
double getRayColorRed() const
Obtain the ray's red color component.
Definition: VHScannerAdapter.h:217