File angle_corrector.hpp

// Copyright 2024 TIER IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#pragma once

#include <nebula_core_decoders/scan_cutter.hpp>
#include <rclcpp/rclcpp.hpp>

#include <cstdint>

namespace nebula::drivers
{

struct CorrectedAngleData
{
  float azimuth_rad;
  float elevation_rad;
  float sin_azimuth;
  float cos_azimuth;
  float sin_elevation;
  float cos_elevation;
};

template <typename CorrectionDataT, size_t ChannelN>
class AngleCorrector
{
public:
  using correction_data_t = CorrectionDataT;

  virtual ~AngleCorrector() = default;

  [[nodiscard]] virtual CorrectedAngleData get_corrected_angle_data(
    uint32_t encoder_azimuth, uint32_t channel_id) const = 0;

  [[nodiscard]] virtual CorrectedAzimuths<ChannelN, float> get_corrected_azimuths(
    uint32_t block_azimuth) const = 0;
};

}  // namespace nebula::drivers