// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef G2O_LASER_PARAMETERS_H
#define G2O_LASER_PARAMETERS_H

#include "g2o/types/slam2d/se2.h"
#include "g2o_types_data_api.h"

namespace g2o {

/**
 * \brief parameters for a 2D range finder
 */
struct G2O_TYPES_DATA_API LaserParameters {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  LaserParameters(int type, int beams, double firstBeamAngle,
                  double angularStep, double maxRange, double accuracy,
                  int remissionMode, double minRange = 0);
  LaserParameters(int beams, double firstBeamAngle, double angularStep,
                  double maxRange, double minRange = 0);
  SE2 laserPose;
  int type;
  double firstBeamAngle;
  double fov;
  double angularStep;
  double accuracy;
  int remissionMode;
  double maxRange;
  double minRange;
};

}  // namespace g2o

#endif
