wall.H

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// Copyright (C) 2008 University of Louisiana at Lafayette
// Authors: Suresh Golconda, Christopher Mire

#ifndef CAJUN_WALL_H
#define CAJUN_WALL_H

#include "data_type.H"
#include "stripe.H"

#define FORWARD 0 // indexes for m_strips
#define REVERSE 1

namespace cajun
{
class wall_t
{
public:
        wall_t (double orient_, double ref_x_, double ref_y_, double ref_z_);

        void update_ref_pos (motion_data_t motion_, nav_data_t nav_);
        void fill_wall (const scan_gp_data_t &scan_gp, unsigned counter);
        void fill_wall (const survey_gp_data_t &scan_gp, unsigned counter);

        unsigned max_columns ();
        unsigned max_cells (unsigned strip_);
        const cell_t& cell (unsigned r, unsigned c) const;
        cell_t& cell (unsigned r, unsigned c);

        void get_ref_pos (double &x_, double &y_) const;

        bool global_stripe_pos (unsigned strip_id, unsigned cell_id_,
                                double &x_, double &y_) const;

        stripe_t& stripe (unsigned index_);

        void sort_stripe (unsigned strip_id);
        unsigned stripe_counter (unsigned strip_id);
        void flush_stripe (unsigned strip_id);

        void print ();


private:
        double m_orient;
        double m_ref_x;
        double m_ref_y;
        double m_ref_z;
        double m_ground_z;
        double m_dis_hopped;

        double m_cell_size;


        //2 strips, one ahead and one behind ahead of ref_xy, along m_orient
        std::vector<stripe_t*> m_strips[2];
        bool strip_for_pt (double x, double y, double z,
                           unsigned &strip_set_id, unsigned &strip_id);

};



};

#endif

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