laser.hpp

#ifndef NOOS_OBJECT_LASER
#define NOOS_OBJECT_LASER
/*
 * LICENSE HERE
 */
#include "includes.ihh"
#include "noos/objects/pose.hpp"
namespace noos {
namespace object {
struct laser
{
    float aperture = 0.0;
    uint64_t timestamp = 0;
    float max_range = 0.0;
    float std_error = 0.0;
    bool right_to_left = true;
    std::vector<float> ranges  = {0.0};
    std::vector<int> intensities = {0};
    noos::object::pose<float> pose3d;

    laser() = default;

    json::object_t to_json() const;

    bool operator==(const noos::object::laser & rhs) const;

};
}
}
#endif