chrono_ultrasound_backend.h

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#ifndef CHRONO_ULTRASOUND_BACKEND_H
#define CHRONO_ULTRASOUND_BACKEND_H
 
#include "bitrl/bitrl_config.h"
 
#ifdef BITRL_CHRONO
 
#include "bitrl/sensors/backends/range_sensor_backend_base.h"
 
#include "chrono/physics/ChSystem.h"
#include "chrono/physics/ChBody.h"
 
#include <memory>
#include <string>
 
namespace bitrl
{
namespace sensors::backends
{
 
class CHRONO_UltrasonicBackend final: public RangeSensorBackendBase
{
public:
 
    static const  std::string BACKEND_TYPE;
 
    CHRONO_UltrasonicBackend(chrono::ChSystem& sys_ptr,
                            std::shared_ptr<chrono::ChBody> body);
 
    std::vector<real_t> read_values();
 
    void load_from_json(const std::string& filename);
 
    void set_position(const chrono::ChVector3d& pos){position_ = pos;}
 
    const chrono::ChVector3d& position() const{return position_;}
 
 
private:
 
    chrono::ChSystem* sys_ptr_;
 
    std::shared_ptr<chrono::ChBody> body_;
 
    chrono::ChVector3d position_;
 
};
}
}
 
#endif
#endif //CHRONO_ULTRASOUND_BACKEND_H