LidarVisual.hh

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/*
 * Copyright (C) 2020 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef IGNITION_RENDERING_LIDARVISUAL_HH_
#define IGNITION_RENDERING_LIDARVISUAL_HH_

#include <vector>
#include <ignition/common/Time.hh>
#include <ignition/math/Color.hh>
#include <ignition/math/Vector3.hh>
#include "ignition/rendering/config.hh"
#include "ignition/rendering/Visual.hh"
#include "ignition/rendering/Object.hh"
#include "ignition/rendering/RenderTypes.hh"
#include "ignition/rendering/Marker.hh"

namespace ignition
{
  namespace rendering
  {
    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
    //
    enum IGNITION_RENDERING_VISIBLE LidarVisualType
    {
      LVT_NONE           = 0,

      LVT_RAY_LINES     = 1,

      LVT_POINTS         = 2,

      LVT_TRIANGLE_STRIPS = 3
    };

    class IGNITION_RENDERING_VISIBLE LidarVisual :
      public virtual Visual
    {
      protected: LidarVisual();

      public: virtual ~LidarVisual();

      public: virtual void ClearPoints() = 0;

      public: virtual void Update() = 0;

      public: virtual void SetPoints(const std::vector<double> &_points) = 0;

      public: virtual void SetPoints(const std::vector<double> &_points,
                        const std::vector<ignition::math::Color> &_colors) = 0;

      public: virtual void SetMinVerticalAngle(
                  double _minVerticalAngle) = 0;

      public: virtual double MinVerticalAngle() const = 0;

      public: virtual void SetMaxVerticalAngle(
                  double _maxVerticalAngle) = 0;

      public: virtual double MaxVerticalAngle() const = 0;

      public: virtual void SetMinHorizontalAngle(
                  double _minHorizontalAngle) = 0;

      public: virtual double MinHorizontalAngle() const = 0;

      public: virtual void SetMaxHorizontalAngle(
                  double _maxHorizontalAngle) = 0;

      public: virtual double MaxHorizontalAngle() const = 0;

      public: virtual void SetVerticalRayCount(
                  unsigned int _verticalRayCount) = 0;

      public: virtual unsigned int VerticalRayCount() const = 0;

      public: virtual void SetHorizontalRayCount(
                  unsigned int _horizontalRayCount) = 0;

      public: virtual unsigned int HorizontalRayCount() const = 0;

      public: virtual void SetMinRange(double _minRange) = 0;

      public: virtual double MinRange() const = 0;

      public: virtual void SetMaxRange(double _maxRange) = 0;

      public: virtual double MaxRange() const = 0;

      public: virtual void SetOffset(
                  const ignition::math::Pose3d _offset) = 0;

      public: virtual ignition::math::Pose3d  Offset() const = 0;

      public: virtual unsigned int PointCount() const = 0;

      public: virtual std::vector<double> Points() const = 0;

      public: virtual void SetType(const LidarVisualType _type) = 0;

      public: virtual LidarVisualType Type() const = 0;

      public: virtual void SetDisplayNonHitting(bool _display) = 0;

      public: virtual bool DisplayNonHitting() const = 0;
    };
    }
  }
}
#endif