83 lines
1.9 KiB
C
83 lines
1.9 KiB
C
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// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include <cstdint>
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#include <vector>
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#include <cstdio>
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namespace carla {
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namespace ros2 {
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class ROS2;
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}
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namespace sensor {
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namespace s11n {
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class RadarSerializer;
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}
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namespace data {
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struct RadarDetection {
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float velocity; // m/s
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float azimuth; // rad
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float altitude; // rad
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float depth; // m
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};
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class RadarData {
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static_assert(sizeof(float) == sizeof(uint32_t), "Invalid float size");
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static_assert(sizeof(float) * 4 == sizeof(RadarDetection), "Invalid RadarDetection size");
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public:
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explicit RadarData() = default;
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constexpr static auto detection_size = sizeof(RadarDetection);
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RadarData &operator=(RadarData &&) = default;
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/// Set a new resolution for the RadarData.
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/// Allocates / Deallocates space in memory if needed.
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///
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/// @warning This is expensive, not to be called each tick!
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void SetResolution(uint32_t resolution) {
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// Remove the capacity of the vector to zero
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_detections.clear();
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_detections.shrink_to_fit();
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// Set the new vector's capacity
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_detections.reserve(resolution);
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}
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/// Returns the number of current detections.
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size_t GetDetectionCount() const {
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return _detections.size();
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}
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/// Deletes the current detections.
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/// It doesn't change the resolution nor the allocated memory.
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void Reset() {
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_detections.clear();
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}
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/// Adds a new detection.
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void WriteDetection(RadarDetection detection) {
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_detections.push_back(detection);
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}
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private:
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std::vector<RadarDetection> _detections;
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friend class s11n::RadarSerializer;
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friend class carla::ros2::ROS2;
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};
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} // namespace s11n
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} // namespace sensor
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} // namespace carla
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