laser_scanner_conversion.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <algorithm>
#include <cmath>
 
#include <Eigen/Geometry>
 
#include <RobotAPI/interface/units/LaserScannerUnit.h>
 
namespace armarx::localization_and_mapping::cartographer_adapter
{
 
    template <typename EigenVectorT>
    EigenVectorT
    toCartesian(const LaserScanStep& laserScanStep)
    {
        EigenVectorT point = EigenVectorT::Zero();
 
        point.x() = laserScanStep.distance * std::cos(laserScanStep.angle);
        point.y() = laserScanStep.distance * std::sin(laserScanStep.angle);
 
        return point;
    }
 
    template <typename EigenVectorT>
    std::vector<EigenVectorT>
    toCartesian(const armarx::LaserScan& laserScan)
    {
        std::vector<EigenVectorT> points;
        points.reserve(laserScan.size());
 
        std::transform(laserScan.begin(),
                       laserScan.end(),
                       std::back_inserter(points),
                       [](const LaserScanStep& pt) { return toCartesian<EigenVectorT>(pt); });
 
        return points;
    }
 
} // namespace armarx::localization_and_mapping::cartographer_adapter