RangeSensor.h

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#ifndef RANGESENSOR_H_
#define RANGESENSOR_H_

#include <opencv2/opencv.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <vector>
#include <memory>
#include <pses_simulation/RangeSensorConfig.h>
#include <nav_msgs/MapMetaData.h>

namespace rs
{
typedef std::shared_ptr<std::vector<float>> rangeArray_ptr;
enum SensorType
{
  laser, 
  us     
};

double correctYawAngle(const double theta, const double increment);
const int sgn(const int x);
double degToRad(double angle);
double radToDeg(double angle);

class RangeSensor;
}

using rs::RangeSensor;
class RangeSensor
{
public:
  RangeSensor(const SensorType& type);
  void setConfig(pses_simulation::RangeSensorConfig& config);
  void setMap(const cv::Mat& map);
  void setMapMetaData(const nav_msgs::MapMetaData& mapInfo);
  const rs::rangeArray_ptr getLaserScan(const cv::Point sensorPos,
                                        const double theta) const;
  const double getUSScan(const cv::Point sensorPos, const double theta) const;

private:
  rs::SensorType type;
  pses_simulation::RangeSensorConfig config;
  cv::Mat map;
  nav_msgs::MapMetaData mapInfo;
};

#endif /* RANGESENSOR_H_ */